73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.4s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 18.8s | 12 errors · 314 warnings · 1521 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/2026-09-04-11-20-29-423414-b8a8c91655f3-7580 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.07sINFOstatic_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' + 4.07sINFOstatic_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' + 4.07sINFOstatic_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_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' + 4.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.22sINFOcontroller_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. + 4.26sINFOcontroller_serverCreating controller server + 4.30sINFOlocal_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. + 4.30sINFOlocal_costmap.local_costmapCreating Costmap + 4.30sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.32sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.33sINFOcontroller_managerupdate rate is 600 Hz + 4.33sINFOcontroller_managerOverruns handling is : enabled + 4.33sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.33sWARNcontroller_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. + 4.33sINFOnav2_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> + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975770 ms (missed cycles : 2). + 4.35sINFOsmoother_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. + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.37sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.38sINFOsmoother_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 + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.42sINFOros2_control_node-12process started with pid [7722] ×2 + 4.42sINFOmove_group-24process started with pid [7760] ×2 + 4.42sINFOparameter_manager_node-25process started with pid [7786] ×2 + 4.42sINFOwaypoint_manager_node-26process started with pid [7790] ×2 + 4.42sINFOmove_joint_resampler_node-27process started with pid [7809] ×2 + 4.42sINFOmove_end_effector_resampler_node-28process started with pid [7812] ×2 + 4.42sINFOobjective_server_node_main-29process started with pid [7813] ×2 + 4.42sINFOcomponent_container_mt-30process started with pid [7814] ×2 + 4.42sINFOcomponent_container_mt-31process started with pid [7815] ×2 + 4.42sINFOexecute_objective_bridge-32process started with pid [7819] ×2 + 4.42sINFOui_teleop_bridge-33process started with pid [7820] ×2 + 4.42sINFOweb_bridge-34process started with pid [7821] ×2 + 4.42sINFOtf2_web_republisher_node-35process started with pid [7822] ×2 + 4.42sINFOvideo_server-36process started with pid [7829] ×2 + 4.42sINFOweb_bridge_auth_proxy-37process started with pid [7830] ×2 + 4.42sINFOweb_video_auth_proxy-38process started with pid [7831] ×2 + 4.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.43sINFOcomponent_container_isolated-1process started with pid [7630] ×2 + 4.43sINFOcomponent_container_isolated-2process started with pid [7631] ×2 + 4.43sINFOstatic_transform_publisher-3process started with pid [7632] ×2 + 4.43sINFOstatic_transform_publisher-4process started with pid [7633] ×2 + 4.43sINFOodom_qos_relay.py-5process started with pid [7634] ×2 + 4.43sINFOforward_stereo_publisher.py-6process started with pid [7635] ×2 + 4.43sINFOlidar_flattener.py-7process started with pid [7636] ×2 + 4.43sINFOstatic_transform_publisher-8process started with pid [7637] ×2 + 4.43sINFOstatic_transform_publisher-9process started with pid [7638] ×2 + 4.44sINFOscan_to_scan_filter_chain-10process started with pid [7720] ×2 + 4.44sINFOscan_to_scan_filter_chain-11process started with pid [7721] ×2 + 4.44sINFOros2-13process started with pid [7723] ×2 + 4.44sINFOros2-14process started with pid [7724] ×2 + 4.44sINFOros2-15process started with pid [7725] ×2 + 4.44sINFOros2-16process started with pid [7726] ×2 + 4.44sINFOros2-17process started with pid [7731] ×2 + 4.44sINFOros2-18process started with pid [7737] ×2 + 4.44sINFOros2-19process started with pid [7739] ×2 + 4.44sINFOros2-20process started with pid [7746] ×2 + 4.44sINFOros2-21process started with pid [7755] ×2 + 4.44sINFOros2-22process started with pid [7758] ×2 + 4.44sINFOros2-23process started with pid [7759] ×2 + 4.47sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.47sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.47sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.47sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.47sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.47sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.47sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.47sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.47sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.47sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.47sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.47sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.47sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.47sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.47sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.47sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.47sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.47sWARNros2_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 + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975770 ms (missed cycles : 2).[0m ×2 + 4.48sINFOplanner_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. + 4.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.49sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.49sINFOplanner_serverCreating + 4.51sINFOglobal_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. + 4.51sINFOglobal_costmap.global_costmapCreating Costmap + 4.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.55sINFOmap_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. + 4.55sINFOmap_serverCreating + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.56sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.57sINFObehavior_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. + 4.57sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.57sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.57sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.58sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.59sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.60sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.65sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.66sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.66sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.70sINFOvideo_server2026/09/04 11:20:35 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.70sINFOvideo_server2026/09/04 11:20:35 INF configuration loaded from /tmp/moveit-webrtc-x9f5uxz1/mediamtx.yml ×2 + 4.70sINFOvideo_server2026/09/04 11:20:35 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.70sINFOrobot_state_publisherRobot initialized + 4.70sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.70sINFOvideo_server2026/09/04 11:20:35 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.70sINFOlifecycle_manager_localizationCreating + 4.71sINFObt_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. + 4.71sINFOcontroller_managerReceived robot description from topic. + 4.71sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.71sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.71sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.73sINFObt_navigatorCreating + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.74sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.75sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.75sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.75sINFOmap_serverConfiguring + 4.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.77sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.77sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.78sINFOwaypoint_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. + 4.78sINFOwaypoint_followerCreating + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.82sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.83sINFOvelocity_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. + 4.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.84sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.84sINFOamclConfiguring + 4.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.86sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.86sINFOmap_serverActivating + 4.86sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.87sINFOlifecycle_manager_navigationCreating + 4.89sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 4.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.89sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.93sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 4.93sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 4.93sINFOcontroller_serverConfiguring controller interface + 4.93sINFOcontroller_servergetting progress checker plugins.. + 4.93sINFOcontroller_servergetting goal checker plugins.. + 4.93sINFOcontroller_serverController frequency set to 20.0000Hz + 4.93sINFOlocal_costmap.local_costmapConfiguring + 4.95sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 4.97sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.97sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.97sINFOamclActivating + 4.98sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.98sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.98sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.00sINFOamclSubscribed to map_topic: /map + 5.02sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.02sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.02sINFOamclSubscribed to scan_topic: /scan_merged + 5.02sINFOamclCreated reinitialize_global_localization service + 5.02sINFOamclCreated request_nomotion_update service + 5.02sINFOamclA new map was received + 5.02sINFOamclInitializing particle filter instance + 5.03sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.07sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.07sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.08sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.09sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.10sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.11sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.12sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.12sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.12sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.12sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.12sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.12sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.13sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.13sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.13sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.13sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.13sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.14sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.14sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.14sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.14sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.14sINFOcontroller_serverOptimizer reset ×2 + 5.16sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.481303 seconds + 5.16sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.16sINFOmove_groupLoaded robot model in 0.481303 seconds[0m ×2 + 5.16sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.16sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.16sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.16sINFOcontroller_serverController Server has FollowPath controllers available. + 5.18sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.18sINFOsmoother_serverConfiguring smoother server + 5.18sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.20sWARNlaser_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. + 5.20sWARNscan_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 + 5.20sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.20sWARNlaser_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. + 5.20sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.22sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.22sINFOplanner_serverConfiguring + 5.22sINFOglobal_costmap.global_costmapConfiguring + 5.23sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.24sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.25sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.25sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.26sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.28sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.28sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.29sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.29sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.31sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.31sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.31sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.34sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.34sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.34sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.35sINFOplanner_serverPlanner Server has GridBased planners available. + 5.36sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.36sINFObehavior_serverConfiguring + 5.37sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.37sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.38sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.38sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.39sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.39sINFObehavior_serverConfiguring spin + 5.41sINFObehavior_serverConfiguring backup + 5.43sINFObehavior_serverConfiguring drive_on_heading + 5.45sINFObehavior_serverConfiguring assisted_teleop + 5.47sINFObehavior_serverConfiguring wait + 5.48sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.49sINFObt_navigatorConfiguring + 5.49sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947772 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947772 ms (missed cycles : 2).[0m ×2 + 5.52sWARNbt_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 + 5.63sINFOamclParticle filter initialization completed + 5.63sINFOamclInitializing particles from estimated pose and covariance + 5.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.68sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.68sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.68sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.71sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.71sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.73sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.77sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 5.86sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 5.86sINFOwaypoint_followerConfiguring + 5.89sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 5.89sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 5.90sINFOvelocity_smootherConfiguring velocity smoother + 5.91sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 5.91sINFOcontroller_serverActivating + 5.91sINFOlocal_costmap.local_costmapActivating + 5.91sINFOlocal_costmap.local_costmapChecking transform + 5.91sINFOlocal_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. ×6 + 5.94sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.94sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.94sWARNmove_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. + 5.94sWARNmove_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. + 5.94sWARNmove_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 + 5.94sWARNmove_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 + 5.94sWARNmove_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. + 5.94sWARNmove_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. + 5.94sWARNmove_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 + 5.94sWARNmove_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. + 5.94sWARNmove_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. + 5.94sWARNmove_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 + 5.94sWARNmove_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 + 5.94sWARNmove_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 + 5.94sWARNmove_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. + 5.94sWARNmove_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. + 5.94sWARNmove_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 + 5.94sWARNmove_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 + 5.94sWARNmove_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. + 5.94sWARNmove_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 + 5.94sWARNmove_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. + 5.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.33sINFOmove_group[2026-09-04 11:20:37.314] [moveit_pro_license] [info] ×2 + 6.33sINFOmove_group************************************************* ×4 + 6.33sINFOmove_group* MoveIt Pro License ×2 + 6.33sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.36sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.36sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.36sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.36sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.38sINFOros2_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 + 6.38sINFOros2_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 + 6.40sINFOwaypoint_manager_nodeLoaded robot model in 0.34293 seconds[0m ×2 + 6.40sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.40sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886569 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886569 ms (missed cycles : 2).[0m ×2 + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.77sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.77sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.77sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.77sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.77sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.77sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.77sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.77sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.78sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.78sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.78sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.78sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.78sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sINFOwaypoint_manager_node[2026-09-04 11:20:38.083] [moveit_pro_license] [info] ×2 + 7.10sINFOwaypoint_manager_node************************************************* ×4 + 7.10sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.10sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.16sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.16sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.16sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.16sWARNros2_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 + 7.16sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.16sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.16sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.16sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.16sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.16sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.16sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.16sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.16sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.16sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.16sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.16sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.16sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.16sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.16sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.16sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.16sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.16sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.16sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.16sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.16sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.16sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.16sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.16sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.16sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.16sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.16sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.16sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.16sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.16sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.16sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.22sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 7.22sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 7.22sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 7.22sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 7.22sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 7.22sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 7.25sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 7.25sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 7.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 7.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 7.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 7.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 7.27sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.27sINFOobjective_server_node[2026-09-04 11:20:38.256] [moveit_pro_license] [info] ×2 + 7.27sINFOobjective_server_node************************************************* ×4 + 7.27sINFOobjective_server_node* MoveIt Pro License ×2 + 7.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.28sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 7.28sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.30sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.34sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.35sINFOobjective_server_nodeLoaded robot model in 0.0306429 seconds[0m ×2 + 7.35sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.35sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.42sINFOros2_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 + 7.42sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.42sWARNros2_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 + 7.47sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.48sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.53sWARNcomponent_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 + 7.57sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.57sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.57sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.57sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.58sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 7.58sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 7.60sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.60sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.62sINFOros2-14process has finished cleanly [pid 7724] ×2 + 7.63sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.63sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.63sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.63sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.63sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.63sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.63sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.64sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813850 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813850 ms (missed cycles : 2).[0m ×2 + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.73sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.76sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.76sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.76sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.76sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.76sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.76sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.76sINFOstreaming_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) + 7.76sINFOcomponent_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 + 7.77sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 7.77sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 7.77sWARNobjective_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. + 7.77sWARNobjective_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 + 7.77sWARNobjective_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. + 7.77sWARNobjective_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 + 7.77sWARNobjective_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. + 7.77sWARNobjective_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. + 7.77sWARNobjective_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 + 7.77sWARNobjective_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 + 7.77sWARNobjective_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. + 7.78sWARNobjective_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. + 7.78sWARNobjective_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 + 7.78sWARNobjective_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. + 7.78sWARNobjective_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 + 7.78sWARNobjective_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. + 7.78sWARNobjective_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 + 7.78sWARNobjective_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 + 7.78sWARNobjective_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. + 7.78sWARNobjective_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 + 7.78sWARNobjective_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. + 7.78sWARNobjective_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 + 7.85sINFOobjective_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 + 7.85sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 7.87sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 7.87sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 7.87sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 7.87sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 7.87sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 7.87sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 7.87sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 7.88sINFOcomponent_container_mtLoaded robot model in 0.351162 seconds[0m ×2 + 7.88sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 7.88sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.98sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.98sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 7.98sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.98sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 7.98sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 7.99sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 7.99sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 7.99sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.99sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.00sINFOros2-17process has finished cleanly [pid 7731] ×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 + 8.09sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.09sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.09sINFOplatform_velocity_controllerconfigure successful + 8.09sINFOros2_control_nodeconfigure successful[0m ×6 + 8.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.10sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.10sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.24sWARNplanning_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. + 8.24sWARNplanning_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. + 8.24sWARNcomponent_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 + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.25sWARNplanning_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. + 8.25sWARNcomponent_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 + 8.26sWARNplanning_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. + 8.26sWARNplanning_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. + 8.26sWARNcomponent_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 + 8.26sWARNplanning_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. + 8.26sWARNcomponent_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 + 8.26sWARNplanning_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. + 8.26sWARNcomponent_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 + 8.26sWARNplanning_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. + 8.26sWARNcomponent_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 + 8.26sWARNplanning_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. + 8.26sWARNcomponent_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 + 8.26sWARNcomponent_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 + 8.26sWARNplanning_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. + 8.26sWARNcomponent_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 + 8.26sWARNplanning_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. + 8.26sWARNcomponent_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 + 8.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 8.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 8.44sINFOros2-16process has finished cleanly [pid 7726] ×2 + 8.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.44sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.47sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.47sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.54sINFOcomponent_container_mt[2026-09-04 11:20:39.523] [moveit_pro_license] [info] ×2 + 8.54sINFOcomponent_container_mt************************************************* ×4 + 8.54sINFOcomponent_container_mt* MoveIt Pro License ×2 + 8.54sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871986 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871986 ms (missed cycles : 4).[0m ×2 + 8.70sINFOmove_groupMoveGroup debug mode is ON + 8.70sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.70sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.75sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.76sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.76sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.76sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.76sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.76sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.76sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.76sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.76sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.76sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 8.76sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 8.77sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.77sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.80sINFOros2-15process has finished cleanly [pid 7725] ×2 + 8.82sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.87sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 8.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.87sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 8.87sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 8.88sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.88sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 8.88sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.88sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 8.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.89sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.89sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.89sINFOmove_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
********************************************************
+ 8.89sINFOmove_group ×8 + 8.89sINFOmove_group******************************************************** ×4 + 8.89sINFOmove_group* MoveGroup using: ×2 + 8.89sINFOmove_group* - apply_planning_scene_service ×2 + 8.89sINFOmove_group* - clear_octomap_service ×2 + 8.89sINFOmove_group* - get_group_urdf ×2 + 8.89sINFOmove_group* - load_geometry_from_file ×2 + 8.89sINFOmove_group* - get_planning_scene_service ×2 + 8.89sINFOmove_group* - kinematics_service ×2 + 8.89sINFOmove_group* - save_geometry_to_file ×2 + 8.89sINFOmove_group* - GetPlanningGroups ×2 + 8.89sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.89sINFOmove_group[0m ×2 + 8.89sINFOmove_group[92mYou can start planning now![0m ×2 + 8.91sINFOlocal_costmap.local_costmapstart + 8.92sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 8.92sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 8.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 8.93sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.02sWARNcontroller_serverParameter controller_server.verbose not found + 9.02sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.12sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.12sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.12sINFOsmoother_serverActivating + 9.12sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.15sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.15sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 9.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 9.18sINFOros2-19process has finished cleanly [pid 7739] ×2 + 9.23sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.23sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.23sINFOplanner_serverActivating + 9.23sINFOglobal_costmap.global_costmapActivating + 9.23sINFOglobal_costmap.global_costmapChecking transform + 9.23sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 9.24sWARNros2_control_nodeCamera render tick took 0.96 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 9.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 9.28sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.28sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.28sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.28sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.32sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 9.33sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 9.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 9.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.57sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788520839.260 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 9.65sINFOros2_control_node[2026-09-04 11:20:40.637] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.66sINFOros2_control_node[2026-09-04 11:20:40.640] [info] Controller state will be published at 10 Hz. ×2 + 9.66sINFOros2_control_node[2026-09-04 11:20:40.641] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 8.088ms + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784944 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784944 ms (missed cycles : 2).[0m ×2 + 9.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.99sINFOros2-21process has finished cleanly [pid 7755] ×2 + 10.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 10.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 10.09sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.09sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.10sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 10.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.23sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788520841.190455, but only time 1788520841.284006 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 10.29sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788520839.260 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.46sINFOros2_control_node[2026-09-04 11:20:41.446] [info] Controller state will be published at 20 Hz. ×2 + 10.46sINFOros2_control_node[2026-09-04 11:20:41.447] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.73sINFOglobal_costmap.global_costmapstart + 10.77sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.77sINFOcontroller_managerLoading controller 'velocity_force_controller' + 10.77sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 10.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 10.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 10.81sINFOros2-22process has finished cleanly [pid 7758] ×2 + 10.82sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 10.82sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 10.83sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 10.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891585 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891585 ms (missed cycles : 3).[0m ×2 + 11.14sINFOros2_control_node[2026-09-04 11:20:42.128] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.15sINFOros2_control_node[2026-09-04 11:20:42.130] [info] Controller state will be published at 10 Hz. ×2 + 11.15sINFOros2_control_node[2026-09-04 11:20:42.132] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.48sINFOros2-20process has finished cleanly [pid 7746] ×2 + 11.48sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.48sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.48sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.49sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.49sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 11.49sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 11.54sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.54sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.54sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.54sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.55sINFOforce_torque_sensor_broadcasterconfigure successful + 11.55sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.55sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.55sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.55sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.78sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.79sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.84sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.84sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.84sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.84sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.84sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 11.85sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 11.89sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.89sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.89sINFObehavior_serverActivating + 11.89sINFObehavior_serverActivating spin + 11.89sINFObehavior_serverActivating backup + 11.89sINFObehavior_serverActivating drive_on_heading + 11.89sINFObehavior_serverActivating assisted_teleop + 11.89sINFObehavior_serverActivating wait + 11.89sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.89sINFOros2-13process has finished cleanly [pid 7723] ×2 + 11.90sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.90sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.90sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.90sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.90sINFOplatform_velocity_controller_nav2configure successful + 12.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 12.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 12.00sINFObt_navigatorActivating + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898799 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898799 ms (missed cycles : 2).[0m ×2 + 12.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 12.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 12.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 12.16sINFOwaypoint_followerActivating + 12.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 12.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.25sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a + 12.25sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_unbuj78k --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_wyfn9w3s --params-file /tmp/launch_params_adxzpv7a [0m ×2 + 12.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 12.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 12.27sINFOvelocity_smootherActivating + 12.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.28sINFOros2-18process has finished cleanly [pid 7737] ×2 + 12.30sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.30sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.30sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.30sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.69sINFOros2_control_node[2026-09-04 11:20:43.673] [info] Controller state will be published at 20 Hz. ×2 + 12.69sINFOros2_control_node[2026-09-04 11:20:43.674] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 12.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 12.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 12.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 12.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 12.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 12.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 12.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 12.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 12.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 12.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 12.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.01sINFOros2-23process has finished cleanly [pid 7759] ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195977 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195977 ms (missed cycles : 2).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761843 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761843 ms (missed cycles : 2).[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 16.00sWARNros2_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 + 16.02sWARNros2_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 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 17.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 17.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 17.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 17.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 17.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 17.83sINFOobjective_server_nodecaller: ×10 + 17.83sINFOobjective_server_nodetype: 0 ×10 + 17.83sINFOobjective_server_nodename: "" ×10 + 17.83sINFOobjective_server_nodeinstance_id: "" ×10 + 17.83sINFOobjective_server_node ×10 + 17.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.87sINFOmove_groupClearing octomap...[0m ×2 + 17.87sINFOmove_groupOctomap cleared.[0m ×2 + 17.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 18.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 18.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 18.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 19.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 19.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.77sINFOobjective_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 + 19.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 19.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 19.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 20.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.36sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 64.5s | 3 errors · 285 warnings · 259 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.752ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942980 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942980 ms (missed cycles : 2).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.062ms + 1.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.449ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289065 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289065 ms (missed cycles : 2).[0m ×2 + 1.55sWARNros2_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 ×10 + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.560ms + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.830ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269254 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269254 ms (missed cycles : 4).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.364ms + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOjoint_trajectory_controllerGot request to cancel goal + 2.70sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.70sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.70sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.72sERRORobjective_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: 1788521058.87459445 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sINFOamclParticle filter update iteration stats: 4890 particles 723 points - 7.370ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788521059.44907475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523609 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523609 ms (missed cycles : 4).[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.489ms + 3.72sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355209 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355209 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221552 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221552 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 5.81sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.81sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.81sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.81sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157012 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157012 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042409 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042409 ms (missed cycles : 2).[0m ×2 + 8.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.780ms + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766323 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766323 ms (missed cycles : 2).[0m ×2 + 9.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.011ms + 9.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.430ms + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456318 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456318 ms (missed cycles : 3).[0m ×2 + 10.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.889ms + 10.79sWARNros2_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 + 10.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.001ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525827 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525827 ms (missed cycles : 3).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 6.523ms + 11.85sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 3.977ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332672 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332672 ms (missed cycles : 2).[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.115ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345719 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345719 ms (missed cycles : 3).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 13.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186990 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186990 ms (missed cycles : 2).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 15.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548693 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548693 ms (missed cycles : 3).[0m ×2 + 15.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 16.11sWARNros2_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 ×8 + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927614 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927614 ms (missed cycles : 2).[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082560 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082560 ms (missed cycles : 2).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858798 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858798 ms (missed cycles : 2).[0m ×2 + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210237 ms (missed cycles : 2). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210237 ms (missed cycles : 2).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145367 ms (missed cycles : 2). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145367 ms (missed cycles : 2).[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 21.39sWARNros2_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 + 21.41sWARNros2_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 + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017846 ms (missed cycles : 2). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017846 ms (missed cycles : 2).[0m ×2 + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614762 ms (missed cycles : 2). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614762 ms (missed cycles : 2).[0m ×2 + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 23.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254735 ms (missed cycles : 3). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254735 ms (missed cycles : 3).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829155 ms (missed cycles : 2). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829155 ms (missed cycles : 2).[0m ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796251 ms (missed cycles : 3). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796251 ms (missed cycles : 3).[0m ×2 + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.208ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018110 ms (missed cycles : 2). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018110 ms (missed cycles : 2).[0m ×2 + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987076 ms (missed cycles : 3). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987076 ms (missed cycles : 3).[0m ×2 + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.123ms + 28.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537239 ms (missed cycles : 4). + 29.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537239 ms (missed cycles : 4).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362628 ms (missed cycles : 2). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362628 ms (missed cycles : 2).[0m ×2 + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256513 ms (missed cycles : 4). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256513 ms (missed cycles : 4).[0m ×2 + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 32.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.17sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 32.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 32.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385426 ms (missed cycles : 3). + 32.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385426 ms (missed cycles : 3).[0m ×2 + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 33.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078157 ms (missed cycles : 3). + 33.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078157 ms (missed cycles : 3).[0m ×2 + 33.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 34.19sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.19sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537340 ms (missed cycles : 3). + 34.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537340 ms (missed cycles : 3).[0m ×2 + 34.54sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694140 ms (missed cycles : 3). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694140 ms (missed cycles : 3).[0m ×2 + 35.51sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468347 ms (missed cycles : 3). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468347 ms (missed cycles : 3).[0m ×2 + 37.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975829 ms (missed cycles : 2). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975829 ms (missed cycles : 2).[0m ×2 + 38.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929473 ms (missed cycles : 3). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929473 ms (missed cycles : 3).[0m ×2 + 38.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 39.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.354433 ms (missed cycles : 7). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.354433 ms (missed cycles : 7).[0m ×2 + 39.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 40.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086339 ms (missed cycles : 3). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086339 ms (missed cycles : 3).[0m ×2 + 41.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 41.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688785 ms (missed cycles : 2). + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688785 ms (missed cycles : 2).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209616 ms (missed cycles : 4). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209616 ms (missed cycles : 4).[0m ×2 + 43.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160574 ms (missed cycles : 2). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160574 ms (missed cycles : 2).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096980 ms (missed cycles : 2). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096980 ms (missed cycles : 2).[0m ×2 + 45.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 46.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366556 ms (missed cycles : 3). + 46.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366556 ms (missed cycles : 3).[0m ×2 + 47.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.378ms + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796467 ms (missed cycles : 2). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796467 ms (missed cycles : 2).[0m ×2 + 47.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 48.05sWARNros2_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 + 48.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×6 + 48.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986455 ms (missed cycles : 2). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986455 ms (missed cycles : 2).[0m ×2 + 48.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 49.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904591 ms (missed cycles : 4). + 49.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904591 ms (missed cycles : 4).[0m ×2 + 50.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314629 ms (missed cycles : 3). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314629 ms (missed cycles : 3).[0m ×2 + 51.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204674 ms (missed cycles : 4). + 51.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204674 ms (missed cycles : 4).[0m ×2 + 52.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613861 ms (missed cycles : 3). + 52.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613861 ms (missed cycles : 3).[0m ×2 + 53.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637377 ms (missed cycles : 4). + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637377 ms (missed cycles : 4).[0m ×2 + 54.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 54.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767552 ms (missed cycles : 3). + 54.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767552 ms (missed cycles : 3).[0m ×2 + 55.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 55.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970366 ms (missed cycles : 2). + 55.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970366 ms (missed cycles : 2).[0m ×2 + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362257 ms (missed cycles : 4). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362257 ms (missed cycles : 4).[0m ×2 + 57.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387853 ms (missed cycles : 3). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387853 ms (missed cycles : 3).[0m ×2 + 58.26sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 59.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595012 ms (missed cycles : 2). + 59.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595012 ms (missed cycles : 2).[0m ×2 + 60.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301574 ms (missed cycles : 3). + 60.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301574 ms (missed cycles : 3).[0m ×2 + 61.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446414 ms (missed cycles : 2). + 61.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446414 ms (missed cycles : 2).[0m ×2 + 62.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400023 ms (missed cycles : 2). + 62.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400023 ms (missed cycles : 2).[0m ×2 + 62.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 63.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055033 ms (missed cycles : 3). + 63.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055033 ms (missed cycles : 3).[0m ×2 + 64.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 64.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512679 ms (missed cycles : 3). + 64.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512679 ms (missed cycles : 3).[0m ×2 + 65.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237621 ms (missed cycles : 4). + 65.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237621 ms (missed cycles : 4).[0m ×2 + 65.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 66.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304012 ms (missed cycles : 2). + 66.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304012 ms (missed cycles : 2).[0m ×2 + 66.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 67.24sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788521123.39923167 seconds ×3 + 67.34sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 67.34sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 67.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590996 ms (missed cycles : 3). + 67.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590996 ms (missed cycles : 3).[0m ×2 + 67.64sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 67.64sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 67.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 67.78sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 67.81sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788521123.97165203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.836ms + 68.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429617 ms (missed cycles : 2). + 68.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429617 ms (missed cycles : 2).[0m ×2 + 69.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653815 ms (missed cycles : 3). + 69.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653815 ms (missed cycles : 3).[0m ×2 + 70.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 70.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 244 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 1.27sWARNros2_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 + 1.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×6 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132189 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132189 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947374 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947374 ms (missed cycles : 2).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.02sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.04sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788520900.45040798 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349155 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349155 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788520901.02338219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.247ms + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239592 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239592 ms (missed cycles : 4).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981850 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981850 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745323 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745323 ms (missed cycles : 2).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641087 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641087 ms (missed cycles : 3).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 3.085ms + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714482 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714482 ms (missed cycles : 2).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.181ms + 9.79sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 2.656ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238452 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238452 ms (missed cycles : 2).[0m ×2 + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 10.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 10.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138368 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138368 ms (missed cycles : 2).[0m ×2 + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324241 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324241 ms (missed cycles : 2).[0m ×2 + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 12.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559019 ms (missed cycles : 4). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559019 ms (missed cycles : 4).[0m ×2 + 13.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 13.85sWARNros2_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 ×12 + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699159 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699159 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854732 ms (missed cycles : 4). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854732 ms (missed cycles : 4).[0m ×2 + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 15.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262458 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262458 ms (missed cycles : 2).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 17.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×8 + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367995 ms (missed cycles : 4). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367995 ms (missed cycles : 4).[0m ×2 + 17.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711001 ms (missed cycles : 3). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711001 ms (missed cycles : 3).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172263 ms (missed cycles : 3). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172263 ms (missed cycles : 3).[0m ×2 + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901603 ms (missed cycles : 5). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901603 ms (missed cycles : 5).[0m ×2 + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 21.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374073 ms (missed cycles : 3). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374073 ms (missed cycles : 3).[0m ×2 + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 22.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×8 + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146272 ms (missed cycles : 4). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146272 ms (missed cycles : 4).[0m ×2 + 22.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769136 ms (missed cycles : 2). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769136 ms (missed cycles : 2).[0m ×2 + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074528 ms (missed cycles : 3). + 24.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074528 ms (missed cycles : 3).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062774 ms (missed cycles : 3). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062774 ms (missed cycles : 3).[0m ×2 + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 26.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312949 ms (missed cycles : 2). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312949 ms (missed cycles : 2).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481460 ms (missed cycles : 2). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481460 ms (missed cycles : 2).[0m ×2 + 28.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985858 ms (missed cycles : 3). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985858 ms (missed cycles : 3).[0m ×2 + 29.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 29.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741110 ms (missed cycles : 3). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741110 ms (missed cycles : 3).[0m ×2 + 30.27sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623814 ms (missed cycles : 2). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623814 ms (missed cycles : 2).[0m ×2 + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321647 ms (missed cycles : 4). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321647 ms (missed cycles : 4).[0m ×2 + 32.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 32.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479692 ms (missed cycles : 4). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479692 ms (missed cycles : 4).[0m ×2 + 34.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786928 ms (missed cycles : 2). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786928 ms (missed cycles : 2).[0m ×2 + 34.45sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771000 ms (missed cycles : 2). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771000 ms (missed cycles : 2).[0m ×2 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854750 ms (missed cycles : 3). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854750 ms (missed cycles : 3).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969214 ms (missed cycles : 3). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969214 ms (missed cycles : 3).[0m ×2 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595626 ms (missed cycles : 4). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595626 ms (missed cycles : 4).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741568 ms (missed cycles : 4). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741568 ms (missed cycles : 4).[0m ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727510 ms (missed cycles : 5). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727510 ms (missed cycles : 5).[0m ×2 + 41.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941933 ms (missed cycles : 3). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941933 ms (missed cycles : 3).[0m ×2 + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127110 ms (missed cycles : 2). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127110 ms (missed cycles : 2).[0m ×2 + 43.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398573 ms (missed cycles : 4). + 43.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398573 ms (missed cycles : 4).[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366092 ms (missed cycles : 3). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366092 ms (missed cycles : 3).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731187 ms (missed cycles : 4). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731187 ms (missed cycles : 4).[0m ×2 + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291235 ms (missed cycles : 3). + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291235 ms (missed cycles : 3).[0m ×2 + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668582 ms (missed cycles : 4). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668582 ms (missed cycles : 4).[0m ×2 + 49.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.257ms + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282606 ms (missed cycles : 3). + 49.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282606 ms (missed cycles : 3).[0m ×2 + 50.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458098 ms (missed cycles : 3). + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458098 ms (missed cycles : 3).[0m ×2 + 51.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144067 ms (missed cycles : 4). + 51.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144067 ms (missed cycles : 4).[0m ×2 + 51.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759299 ms (missed cycles : 3). + 52.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759299 ms (missed cycles : 3).[0m ×2 + 53.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933528 ms (missed cycles : 4). + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933528 ms (missed cycles : 4).[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905299 ms (missed cycles : 2). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905299 ms (missed cycles : 2).[0m ×2 + 54.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912558 ms (missed cycles : 3). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912558 ms (missed cycles : 3).[0m ×2 + 55.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 56.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979939 ms (missed cycles : 2). + 56.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979939 ms (missed cycles : 2).[0m ×2 + 57.22sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 57.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4).[0m ×2 + 58.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3). + 58.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3).[0m ×2 + 59.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2).[0m ×2 + 60.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788520957.44350934 seconds ×3 + 60.09sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.09sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.49sWARNlocal_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 + 60.49sWARNlocal_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 + 60.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.58sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788520958.02135181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2). + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2).[0m ×2 + 60.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 61.00sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 61.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2). + 61.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2).[0m ×2 + 62.31sWARNglobal_costmap.global_costmapSensor origin at (0.15, -3.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2).[0m ×2 + 63.31sWARNglobal_costmap.global_costmapSensor origin at (0.13, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.9s | 242 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788521129.81178164 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788521130.38975096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 4.40sWARNros2_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 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.88sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008705 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008705 ms (missed cycles : 2).[0m ×2 + 7.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.926ms + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.262ms + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997336 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997336 ms (missed cycles : 2).[0m ×2 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.361ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.332ms + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085591 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085591 ms (missed cycles : 2).[0m ×2 + 10.38sWARNros2_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 ×2 + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.480ms + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547127 ms (missed cycles : 3). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547127 ms (missed cycles : 3).[0m ×2 + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.117ms + 11.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.771ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618389 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618389 ms (missed cycles : 3).[0m ×2 + 12.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.799ms + 12.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.678ms + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063543 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063543 ms (missed cycles : 2).[0m ×2 + 13.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.698ms + 14.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.764ms + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345857 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345857 ms (missed cycles : 3).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 4570 particles 723 points - 8.220ms + 15.02sINFOamclParticle filter update iteration stats: 3596 particles 723 points - 7.367ms + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451244 ms (missed cycles : 3). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451244 ms (missed cycles : 3).[0m ×2 + 15.52sWARNros2_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 + 15.54sINFOamclParticle filter update iteration stats: 2961 particles 723 points - 6.626ms + 16.08sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 4.417ms + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797244 ms (missed cycles : 3). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797244 ms (missed cycles : 3).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 3.990ms + 17.11sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 17.15sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 3.983ms + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481476 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481476 ms (missed cycles : 2).[0m ×2 + 17.68sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 3.376ms + 18.21sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.336ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836656 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836656 ms (missed cycles : 3).[0m ×2 + 18.77sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.917ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261740 ms (missed cycles : 2). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261740 ms (missed cycles : 2).[0m ×2 + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720427 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720427 ms (missed cycles : 3).[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 21.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223966 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223966 ms (missed cycles : 2).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 22.51sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242681 ms (missed cycles : 2). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242681 ms (missed cycles : 2).[0m ×2 + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.548914 ms (missed cycles : 4). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.548914 ms (missed cycles : 4).[0m ×2 + 23.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368209 ms (missed cycles : 3). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368209 ms (missed cycles : 3).[0m ×2 + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441444 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441444 ms (missed cycles : 2).[0m ×2 + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479785 ms (missed cycles : 3). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479785 ms (missed cycles : 3).[0m ×2 + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 27.93sWARNros2_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 ×6 + 27.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 28.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151267 ms (missed cycles : 3). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151267 ms (missed cycles : 3).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 29.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029575 ms (missed cycles : 2). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029575 ms (missed cycles : 2).[0m ×2 + 29.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms ×2 + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367272 ms (missed cycles : 3). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367272 ms (missed cycles : 3).[0m ×2 + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360733 ms (missed cycles : 4). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360733 ms (missed cycles : 4).[0m ×2 + 31.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×12 + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.131ms + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142843 ms (missed cycles : 3). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142843 ms (missed cycles : 3).[0m ×2 + 32.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928704 ms (missed cycles : 2). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928704 ms (missed cycles : 2).[0m ×2 + 33.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 34.30sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279445 ms (missed cycles : 5). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279445 ms (missed cycles : 5).[0m ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105307 ms (missed cycles : 2). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105307 ms (missed cycles : 2).[0m ×2 + 36.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732070 ms (missed cycles : 5). + 36.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732070 ms (missed cycles : 5).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632112 ms (missed cycles : 2). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632112 ms (missed cycles : 2).[0m ×2 + 38.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528108 ms (missed cycles : 3). + 38.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528108 ms (missed cycles : 3).[0m ×2 + 39.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806959 ms (missed cycles : 3). + 39.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806959 ms (missed cycles : 3).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758814 ms (missed cycles : 3). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758814 ms (missed cycles : 3).[0m ×2 + 41.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 41.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725624 ms (missed cycles : 3). + 41.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725624 ms (missed cycles : 3).[0m ×2 + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083929 ms (missed cycles : 2). + 42.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083929 ms (missed cycles : 2).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967122 ms (missed cycles : 3). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967122 ms (missed cycles : 3).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329960 ms (missed cycles : 3). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329960 ms (missed cycles : 3).[0m ×2 + 45.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590643 ms (missed cycles : 3). + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590643 ms (missed cycles : 3).[0m ×2 + 47.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708129 ms (missed cycles : 3). + 47.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708129 ms (missed cycles : 3).[0m ×2 + 48.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576569 ms (missed cycles : 4). + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576569 ms (missed cycles : 4).[0m ×2 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797013 ms (missed cycles : 3). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797013 ms (missed cycles : 3).[0m ×2 + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 50.02sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838910 ms (missed cycles : 3). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838910 ms (missed cycles : 3).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119452 ms (missed cycles : 2). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119452 ms (missed cycles : 2).[0m ×2 + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183848 ms (missed cycles : 2). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183848 ms (missed cycles : 2).[0m ×2 + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262558 ms (missed cycles : 2). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262558 ms (missed cycles : 2).[0m ×2 + 54.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574904 ms (missed cycles : 2). + 54.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574904 ms (missed cycles : 2).[0m ×2 + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223838 ms (missed cycles : 2). + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223838 ms (missed cycles : 2).[0m ×2 + 55.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 56.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366648 ms (missed cycles : 3). + 56.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366648 ms (missed cycles : 3).[0m ×2 + 57.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129658 ms (missed cycles : 3). + 57.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129658 ms (missed cycles : 3).[0m ×2 + 58.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900128 ms (missed cycles : 2). + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900128 ms (missed cycles : 2).[0m ×2 + 59.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.003ms + 59.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788521186.70989084 seconds ×3 + 59.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767452 ms (missed cycles : 3). + 59.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767452 ms (missed cycles : 3).[0m ×2 + 59.98sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 59.98sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.44sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.48sWARNlocal_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 + 60.48sWARNlocal_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 + 60.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788521187.31663203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.86sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 60.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.722ms + 61.15sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664069 ms (missed cycles : 3). + 61.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664069 ms (missed cycles : 3).[0m ×2 + 62.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955770 ms (missed cycles : 4). + 62.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955770 ms (missed cycles : 4).[0m ×2 + 63.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256839 ms (missed cycles : 2). + 63.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256839 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.8s | 245 warnings · 224 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_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 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×8 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788520996.33290935 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.522ms + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.62) 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 (-1.34, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788520996.90699697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.103ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.13sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.13sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.13sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775638 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775638 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557528 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557528 ms (missed cycles : 2).[0m ×2 + 8.57sWARNros2_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 + 8.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.281ms + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883701 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883701 ms (missed cycles : 2).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.178ms + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.001ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106736 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106736 ms (missed cycles : 2).[0m ×2 + 10.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.927ms + 11.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.487ms + 11.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.002ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321628 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321628 ms (missed cycles : 2).[0m ×2 + 12.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 12.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.765ms + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056265 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056265 ms (missed cycles : 2).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 6.804ms + 13.67sWARNros2_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 + 13.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 4.426ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772699 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772699 ms (missed cycles : 2).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 2.435ms + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537174 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537174 ms (missed cycles : 3).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 15.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166605 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166605 ms (missed cycles : 2).[0m ×2 + 16.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577085 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577085 ms (missed cycles : 2).[0m ×2 + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 18.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057588 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057588 ms (missed cycles : 2).[0m ×2 + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711407 ms (missed cycles : 3). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711407 ms (missed cycles : 3).[0m ×2 + 19.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188773 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188773 ms (missed cycles : 2).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200561 ms (missed cycles : 3). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200561 ms (missed cycles : 3).[0m ×2 + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212607 ms (missed cycles : 5). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212607 ms (missed cycles : 5).[0m ×2 + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 23.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243151 ms (missed cycles : 3). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243151 ms (missed cycles : 3).[0m ×2 + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656719 ms (missed cycles : 2). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656719 ms (missed cycles : 2).[0m ×2 + 24.61sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 24.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms ×2 + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975295 ms (missed cycles : 2). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975295 ms (missed cycles : 2).[0m ×2 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412936 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412936 ms (missed cycles : 2).[0m ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815264 ms (missed cycles : 2). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815264 ms (missed cycles : 2).[0m ×2 + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237493 ms (missed cycles : 4). + 28.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237493 ms (missed cycles : 4).[0m ×2 + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271086 ms (missed cycles : 5). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271086 ms (missed cycles : 5).[0m ×2 + 30.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 30.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392169 ms (missed cycles : 4). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392169 ms (missed cycles : 4).[0m ×2 + 31.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 31.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132481 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132481 ms (missed cycles : 2).[0m ×2 + 32.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914708 ms (missed cycles : 2). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914708 ms (missed cycles : 2).[0m ×2 + 33.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794786 ms (missed cycles : 3). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794786 ms (missed cycles : 3).[0m ×2 + 34.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954394 ms (missed cycles : 3). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954394 ms (missed cycles : 3).[0m ×2 + 35.48sWARNros2_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 ×4 + 35.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064642 ms (missed cycles : 4). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064642 ms (missed cycles : 4).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350088 ms (missed cycles : 3). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350088 ms (missed cycles : 3).[0m ×2 + 37.41sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.18sINFOobjective_server_nodePlanning for 24 path waypoints. ×3 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701099 ms (missed cycles : 2). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701099 ms (missed cycles : 2).[0m ×2 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310816 ms (missed cycles : 4). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310816 ms (missed cycles : 4).[0m ×2 + 40.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099352 ms (missed cycles : 4). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099352 ms (missed cycles : 4).[0m ×2 + 40.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 41.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897288 ms (missed cycles : 3). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897288 ms (missed cycles : 3).[0m ×2 + 41.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms ×2 + 42.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701915 ms (missed cycles : 2). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701915 ms (missed cycles : 2).[0m ×2 + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590291 ms (missed cycles : 3). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590291 ms (missed cycles : 3).[0m ×2 + 43.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394941 ms (missed cycles : 3). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394941 ms (missed cycles : 3).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184567 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184567 ms (missed cycles : 2).[0m ×2 + 46.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001061 ms (missed cycles : 2). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001061 ms (missed cycles : 2).[0m ×2 + 47.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms ×2 + 47.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326757 ms (missed cycles : 2). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326757 ms (missed cycles : 2).[0m ×2 + 48.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844031 ms (missed cycles : 2). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844031 ms (missed cycles : 2).[0m ×2 + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893303 ms (missed cycles : 3). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893303 ms (missed cycles : 3).[0m ×2 + 50.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334328 ms (missed cycles : 2). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334328 ms (missed cycles : 2).[0m ×2 + 52.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701175 ms (missed cycles : 3). + 52.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701175 ms (missed cycles : 3).[0m ×2 + 52.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656748 ms (missed cycles : 3). + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656748 ms (missed cycles : 3).[0m ×2 + 53.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 54.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916783 ms (missed cycles : 3). + 54.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916783 ms (missed cycles : 3).[0m ×2 + 54.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788521048.15716147 seconds ×3 + 54.93sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 54.93sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.23sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.23sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.38sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788521048.74111676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561541 ms (missed cycles : 3). + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561541 ms (missed cycles : 3).[0m ×2 + 55.75sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 55.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.926ms + 56.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899893 ms (missed cycles : 4). + 56.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899893 ms (missed cycles : 4).[0m ×2 + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259668 ms (missed cycles : 2). + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259668 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 150 warnings · 382 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.63sINFOobjective_server_nodecaller: ×12 + 0.63sINFOobjective_server_nodetype: 0 ×12 + 0.63sINFOobjective_server_nodename: "" ×12 + 0.63sINFOobjective_server_nodeinstance_id: "" ×12 + 0.63sINFOobjective_server_node ×12 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.66sINFOmove_groupClearing octomap...[0m ×2 + 0.66sINFOmove_groupOctomap cleared.[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_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 + 2.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.53sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.74sWARNros2_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 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122529 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122529 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584783 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584783 ms (missed cycles : 2).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 4.358ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787213 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787213 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049758 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049758 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450270 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450270 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507913 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507913 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637431 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637431 ms (missed cycles : 2).[0m ×2 + 14.03sWARNros2_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 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699126 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699126 ms (missed cycles : 2).[0m ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954608 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954608 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413901 ms (missed cycles : 4). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413901 ms (missed cycles : 4).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646392 ms (missed cycles : 3). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646392 ms (missed cycles : 3).[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664423 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664423 ms (missed cycles : 3).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231030 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231030 ms (missed cycles : 2).[0m ×2 + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659664 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659664 ms (missed cycles : 2).[0m ×2 + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044365 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044365 ms (missed cycles : 2).[0m ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220637 ms (missed cycles : 2). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220637 ms (missed cycles : 2).[0m ×2 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324338 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324338 ms (missed cycles : 2).[0m ×2 + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267549 ms (missed cycles : 2). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267549 ms (missed cycles : 2).[0m ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802804 ms (missed cycles : 2). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802804 ms (missed cycles : 2).[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941156 ms (missed cycles : 2). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941156 ms (missed cycles : 2).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073754 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073754 ms (missed cycles : 2).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763317 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763317 ms (missed cycles : 2).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361323 ms (missed cycles : 4). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361323 ms (missed cycles : 4).[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910098 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910098 ms (missed cycles : 2).[0m ×2 + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301708 ms (missed cycles : 2). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301708 ms (missed cycles : 2).[0m ×2 + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552840 ms (missed cycles : 2). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552840 ms (missed cycles : 2).[0m ×2 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834532 ms (missed cycles : 2). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834532 ms (missed cycles : 2).[0m ×2 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379516 ms (missed cycles : 2). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379516 ms (missed cycles : 2).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824621 ms (missed cycles : 2). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824621 ms (missed cycles : 2).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631246 ms (missed cycles : 3). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631246 ms (missed cycles : 3).[0m ×2 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471393 ms (missed cycles : 2). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471393 ms (missed cycles : 2).[0m ×2 + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187973 ms (missed cycles : 2). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187973 ms (missed cycles : 2).[0m ×2 + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189972 ms (missed cycles : 2). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189972 ms (missed cycles : 2).[0m ×2 + 41.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457178 ms (missed cycles : 3). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457178 ms (missed cycles : 3).[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327406 ms (missed cycles : 2). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327406 ms (missed cycles : 2).[0m ×2 + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901252 ms (missed cycles : 2). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901252 ms (missed cycles : 2).[0m ×2 + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255683 ms (missed cycles : 4). + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255683 ms (missed cycles : 4).[0m ×2 + 46.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846883 ms (missed cycles : 3). + 46.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846883 ms (missed cycles : 3).[0m ×2 + 46.16sINFOjoint_trajectory_controllerGoal reached, success! + 46.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788520894.37648082 seconds ×3 + 46.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.73sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788520894.96027970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 47.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078397 ms (missed cycles : 3). + 47.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078397 ms (missed cycles : 3).[0m ×2 + 47.83sINFOobjective_server_nodeFound path in 0 iterations (2.2769e-05 s). ×2 + 47.88sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470473 ms (missed cycles : 3). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470473 ms (missed cycles : 3).[0m ×2 + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2).[0m ×2 + 49.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.5s | 164 warnings · 189 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (0.14, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773989 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773989 ms (missed cycles : 3).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (0.15, -3.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145614 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145614 ms (missed cycles : 3).[0m ×2 + 2.00sWARNglobal_costmap.global_costmapSensor origin at (0.16, -3.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 2.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.07sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788520963.79147816 seconds ×3 + 2.55sWARNros2_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 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062969 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062969 ms (missed cycles : 2).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272915 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272915 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788520965.36276507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956577 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956577 ms (missed cycles : 2).[0m ×2 + 5.00sWARNglobal_costmap.global_costmapSensor origin at (0.13, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933088 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933088 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977705 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977705 ms (missed cycles : 3).[0m ×2 + 8.00sWARNglobal_costmap.global_costmapSensor origin at (0.20, -3.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245392 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245392 ms (missed cycles : 2).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.643ms + 9.00sWARNglobal_costmap.global_costmapSensor origin at (0.43, -3.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300107 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300107 ms (missed cycles : 2).[0m ×2 + 9.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.925ms + 10.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.241ms + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765344 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765344 ms (missed cycles : 2).[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.164ms + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.642ms + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.827258 ms (missed cycles : 5). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.827258 ms (missed cycles : 5).[0m ×2 + 11.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.342ms + 12.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.823ms + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306559 ms (missed cycles : 4). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306559 ms (missed cycles : 4).[0m ×2 + 12.63sWARNros2_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 + 12.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.616ms + 13.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.667ms + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347984 ms (missed cycles : 3). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347984 ms (missed cycles : 3).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.777ms + 14.20sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 7.305ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740607 ms (missed cycles : 3). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740607 ms (missed cycles : 3).[0m ×2 + 14.71sINFOamclParticle filter update iteration stats: 3326 particles 723 points - 7.549ms + 15.22sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 4.645ms + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327223 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327223 ms (missed cycles : 2).[0m ×2 + 15.71sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.75sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.291ms + 16.29sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.096ms + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843431 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843431 ms (missed cycles : 2).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503744 ms (missed cycles : 4). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503744 ms (missed cycles : 4).[0m ×2 + 17.89sWARNros2_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 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334295 ms (missed cycles : 3). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334295 ms (missed cycles : 3).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707771 ms (missed cycles : 3). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707771 ms (missed cycles : 3).[0m ×2 + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154387 ms (missed cycles : 4). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154387 ms (missed cycles : 4).[0m ×2 + 21.09sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 21.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 21.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712309 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712309 ms (missed cycles : 2).[0m ×2 + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103521 ms (missed cycles : 3). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103521 ms (missed cycles : 3).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757918 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757918 ms (missed cycles : 2).[0m ×2 + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147399 ms (missed cycles : 4). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147399 ms (missed cycles : 4).[0m ×2 + 25.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947714 ms (missed cycles : 3). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947714 ms (missed cycles : 3).[0m ×2 + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617320 ms (missed cycles : 3). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617320 ms (missed cycles : 3).[0m ×2 + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473230 ms (missed cycles : 4). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473230 ms (missed cycles : 4).[0m ×2 + 28.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.167ms + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538607 ms (missed cycles : 3). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538607 ms (missed cycles : 3).[0m ×2 + 29.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 30.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149670 ms (missed cycles : 4). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149670 ms (missed cycles : 4).[0m ×2 + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3).[0m ×2 + 31.91sWARNros2_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 + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3).[0m ×2 + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 33.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3).[0m ×2 + 34.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 34.62sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788520996.33290935 seconds ×3 + 34.68sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.68sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2). + 34.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2).[0m ×2 + 35.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.522ms + 35.18sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.18sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788520996.90699697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.58sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 35.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.103ms + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2).[0m ×2 + 37.23sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 15.8s | 92 warnings · 238 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129658 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900128 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900128 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.003ms + 2.15sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.15sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788521186.70989084 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767452 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767452 ms (missed cycles : 3).[0m ×2 + 2.25sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.71sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_nodecaller: ×6 + 2.71sINFOobjective_server_nodetype: 0 ×6 + 2.71sINFOobjective_server_nodename: "" ×6 + 2.71sINFOobjective_server_nodeinstance_id: "" ×6 + 2.71sINFOobjective_server_node ×6 + 2.75sWARNlocal_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 + 2.75sWARNlocal_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 + 2.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788521187.31663203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.722ms + 3.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.43sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.43sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664069 ms (missed cycles : 3). + 3.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664069 ms (missed cycles : 3).[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955770 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955770 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256839 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256839 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354644 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354644 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946404 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946404 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919004 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919004 ms (missed cycles : 3).[0m ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 9.11sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.27sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 9.36sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163222 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163222 ms (missed cycles : 3).[0m ×2 + 9.69sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.73sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 10.05sINFOobjective_server_nodeFound path in 33 iterations (0.0319181 s). ×2 + 10.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 10.54sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378478 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378478 ms (missed cycles : 2).[0m ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 11.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 11.72sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.95sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952973 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952973 ms (missed cycles : 3).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293278 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293278 ms (missed cycles : 2).[0m ×2 + 14.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961029 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961029 ms (missed cycles : 2).[0m ×2 + 15.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.036ms + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849850 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849850 ms (missed cycles : 2).[0m ×2 + 16.11sWARNros2_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 + 16.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.569ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354493 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354493 ms (missed cycles : 2).[0m ×2 + 17.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.506ms + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086257 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086257 ms (missed cycles : 2).[0m ×2 + 17.62sWARNros2_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 + 17.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788521202.50232458 seconds ×3 + 18.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.49sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 18.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521203.10907817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.56sINFOmove_groupClearing octomap...[0m ×2 + 18.56sINFOmove_groupOctomap cleared.[0m ×2 + 18.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.154ms + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615409 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615409 ms (missed cycles : 2).[0m ×2 + 19.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521204.08922935 seconds ×3 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 + 20.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.08sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521204.66471767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479468 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479468 ms (missed cycles : 2).[0m ×2 + 21.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788521205.62661839 seconds ×3 + 21.31sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 104 errors · 31 warnings · 515 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.506ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086257 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086257 ms (missed cycles : 2).[0m ×2 + 0.48sWARNros2_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 + 0.79sINFOjoint_trajectory_controllerGoal reached, success! + 0.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788521202.50232458 seconds ×3 + 0.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.34sINFOobjective_server_nodecaller: ×4 + 1.34sINFOobjective_server_nodetype: 0 ×4 + 1.34sINFOobjective_server_nodename: "" ×4 + 1.34sINFOobjective_server_nodeinstance_id: "" ×4 + 1.34sINFOobjective_server_node ×4 + 1.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521203.10907817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.154ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615409 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615409 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521204.08922935 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 2.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521204.66471767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479468 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479468 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788521205.62661839 seconds ×3 + 4.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623384 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623384 ms (missed cycles : 2).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183837 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183837 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849421 ms (missed cycles : 3). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849421 ms (missed cycles : 3).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165647 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165647 ms (missed cycles : 2).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852557 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852557 ms (missed cycles : 2).[0m ×2 + 9.74sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.78sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORweb_video_auth_proxy-38process has died [pid 7831, 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 + 9.78sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.80sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORweb_bridge_auth_proxy-37process has died [pid 7830, 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 + 9.80sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.83sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 9.84sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 9.85sINFOvideo_server-36process has finished cleanly [pid 7829] ×2 + 9.85sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 9.86sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 9.87sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.88sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 9.89sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 9.90sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 9.91sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 9.92sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 9.93sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 9.94sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 9.96sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 9.96sINFOcontroller_managerShutdown request received.... + 9.96sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.96sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.96sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.96sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.96sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.96sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.96sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.96sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.97sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.97sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.97sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.97sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.97sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.97sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.97sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.97sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.97sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.97sINFOcontroller_managerShutting down the controller manager. + 9.97sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 9.98sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 9.99sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 9.99sERRORmove_group-24process has died [pid 7760, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_g5idamlg --params-file /tmp/launch_params_maevl067 --params-file /tmp/launch_params_5teaqdc6 --params-file /tmp/launch_params_raen3kpr --params-file /tmp/launch_params_dr_w3h_l --params-file /tmp/launch_params_24m97dg2']. ×2 + 10.00sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.01sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.02sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.03sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.04sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.05sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.06sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.06sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.06sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.06sINFOmap_serverDeactivating + 10.06sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.07sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.07sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.07sINFOcontroller_serverDeactivating + 10.07sINFOlocal_costmap.local_costmapDeactivating + 10.07sINFOvideo_server2026/09/04 11:26:51 INF shutting down gracefully ×2 + 10.07sINFOvideo_server2026/09/04 11:26:51 INF [WebRTC] closing ×2 + 10.07sINFOvideo_server2026/09/04 11:26:51 INF [RTSP] closing ×2 + 10.07sINFOvideo_server2026/09/04 11:26:51 INF waiting for running hooks ×2 + 10.07sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.07sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.07sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.07sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.07sINFOmap_serverCleaning up + 10.07sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.07sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.07sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.07sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.08sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.08sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.08sERRORmove_groupStack trace (most recent call last) in thread 8417: ×2 + 10.08sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.08sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb22042ea63, in __clone ×2 + 10.08sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2203a1aa3, in ×2 + 10.08sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb220633db3, in ×2 + 10.08sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fb220d98a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.08sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2209c5620, in rclcpp::Rate::sleep() ×2 + 10.08sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb220907d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.08sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2208c9087, in ×2 + 10.08sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb220602390, in __cxa_throw ×2 + 10.08sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2205eca54, in std::terminate() ×2 + 10.08sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2206020d9, in ×2 + 10.08sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2205ecff4, in ×2 + 10.08sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb22032d8fe, in abort ×2 + 10.08sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb22034a27d, in raise ×2 + 10.08sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2203a3b2c, in pthread_kill ×2 + 10.08sERRORmove_groupAborted (Signal sent by tkill() 7760 0) ×2 + 10.08sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.08sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.08sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.08sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.08sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.08sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.08sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.08sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.08sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.08sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.08sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.08sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.08sINFOodom_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 + 10.08sINFOodom_qos_relay.pymain() ×2 + 10.08sINFOodom_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 + 10.08sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.08sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.08sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.08sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.08sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.08sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.08sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.09sERRORamclThe bond connection to the lifecycle manager has been broken + 10.10sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.11sINFOcontroller_serverCleaning up + 10.11sINFOlocal_costmap.local_costmapCleaning up + 10.15sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.15sINFOsmoother_serverDeactivating + 10.15sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.16sINFOsmoother_serverCleaning up + 10.18sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.18sINFOros2_control_nodepublish_async_failures_ 6[0m ×2 + 10.18sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.18sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.18sINFOplanner_serverDeactivating + 10.18sINFOglobal_costmap.global_costmapDeactivating + 10.25sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.26sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.26sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.26sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.27sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.27sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.27sINFOvelocity_smootherDeactivating + 10.27sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.38sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.38sINFOwaypoint_followerDeactivating + 10.38sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.49sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.49sINFObt_navigatorDeactivating + 10.49sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.61sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.61sINFObehavior_serverDeactivating + 10.61sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.72sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.72sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.72sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 10.72sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.72sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.72sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.72sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.72sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.72sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.72sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.72sINFOvelocity_smootherCleaning up + 10.73sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.73sINFOwaypoint_followerCleaning up + 10.75sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.75sINFObt_navigatorCleaning up + 10.90sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7822] ×2 + 10.90sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 10.93sINFObt_navigatorCompleted Cleaning up + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.94sINFObehavior_serverCleaning up + 10.96sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7812] ×2 + 10.97sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7809] ×2 + 10.98sINFOui_teleop_bridge-33process has finished cleanly [pid 7820] ×2 + 10.99sINFOexecute_objective_bridge-32process has finished cleanly [pid 7819] ×2 + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.99sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.99sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.00sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.00sINFOcomponent_container_mt-31process has finished cleanly [pid 7815] ×2 + 11.01sINFOparameter_manager_node-25process has finished cleanly [pid 7786] ×2 + 11.02sINFOwaypoint_manager_node-26process has finished cleanly [pid 7790] ×2 + 11.02sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.02sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.02sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7721] ×2 + 11.03sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7720] ×2 + 11.03sINFOplanner_serverCleaning up + 11.04sINFOstatic_transform_publisher-9process has finished cleanly [pid 7638] ×2 + 11.05sINFOglobal_costmap.global_costmapCleaning up + 11.05sINFOstatic_transform_publisher-8process has finished cleanly [pid 7637] ×2 + 11.06sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.06sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.06sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.06sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.06sINFOlidar_flattener.pymain() ×2 + 11.06sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.06sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.06sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.06sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.06sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.06sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.06sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.06sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.06sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.06sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.07sINFOobjective_server_node[2026-09-04 11:26:52.761] [moveit_pro_license] [critical] ×2 + 11.07sINFOobjective_server_node************************************************* ×4 + 11.07sINFOobjective_server_node* MoveIt Pro License ×2 + 11.07sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.09sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.09sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.09sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.09sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.09sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.09sINFOstatic_transform_publisher-4process has finished cleanly [pid 7633] ×2 + 11.10sINFOstatic_transform_publisher-3process has finished cleanly [pid 7632] ×2 + 11.11sERRORlidar_flattener.py-7process has died [pid 7636, 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_4phzc120']. ×2 + 11.14sERRORodom_qos_relay.py-5process has died [pid 7634, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.15sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7635] ×2 + 11.15sINFOobjective_server_node_main-29process has finished cleanly [pid 7813] ×2 + 11.15sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.41sERRORcomponent_container_isolated-2process has died [pid 7631, 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_wy6hsv9b --params-file /tmp/launch_params_ye7crckn -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.42sERRORcomponent_container_isolated-1process has died [pid 7630, 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_wy6hsv9b --params-file /tmp/launch_params_9f9xipt9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.08sINFOcomponent_container_mt-30process has finished cleanly [pid 7814] ×2 + 12.69sINFOros2_control_node-12process has finished cleanly [pid 7722] ×2 + 12.77sINFOweb_bridge-34process has finished cleanly [pid 7821] ×2 + 12.77sINFOlaunchprocess[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 · 92 warnings · 157 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701175 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701175 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656748 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656748 ms (missed cycles : 3).[0m ×2 + 1.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916783 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916783 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788521048.15716147 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.17sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788521048.74111676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561541 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561541 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.926ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899893 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899893 ms (missed cycles : 4).[0m ×2 + 5.05sWARNros2_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 ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259668 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259668 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980774 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980774 ms (missed cycles : 3).[0m ×2 + 6.56sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966376 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966376 ms (missed cycles : 2).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.027ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717497 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717497 ms (missed cycles : 2).[0m ×2 + 9.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.924ms + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.708ms + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556174 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556174 ms (missed cycles : 2).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.961ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.752ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942980 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942980 ms (missed cycles : 2).[0m ×2 + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.062ms + 11.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.449ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289065 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289065 ms (missed cycles : 2).[0m ×2 + 12.14sWARNros2_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 + 12.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.560ms + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.830ms + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269254 ms (missed cycles : 4). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269254 ms (missed cycles : 4).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.364ms + 13.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.30sINFOjoint_trajectory_controllerGot request to cancel goal + 13.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.30sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.31sERRORobjective_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: 1788521058.87459445 seconds ×3 + 13.43sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.43sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.73sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.73sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.74sINFOamclParticle filter update iteration stats: 4890 particles 723 points - 7.370ms + 13.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.88sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788521059.44907475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523609 ms (missed cycles : 4). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523609 ms (missed cycles : 4).[0m ×2 + 14.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.489ms + 14.31sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355209 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355209 ms (missed cycles : 3).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221552 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221552 ms (missed cycles : 2).[0m ×2 + 16.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 74 warnings · 142 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788520957.44350934 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788520958.02135181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2).[0m ×2 + 5.09sWARNglobal_costmap.global_costmapSensor origin at (0.15, -3.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2).[0m ×2 + 6.09sWARNglobal_costmap.global_costmapSensor origin at (0.13, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504667 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504667 ms (missed cycles : 3).[0m ×2 + 7.09sWARNglobal_costmap.global_costmapSensor origin at (0.14, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773989 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773989 ms (missed cycles : 3).[0m ×2 + 8.09sWARNglobal_costmap.global_costmapSensor origin at (0.15, -3.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145614 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145614 ms (missed cycles : 3).[0m ×2 + 9.09sWARNglobal_costmap.global_costmapSensor origin at (0.16, -3.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 9.16sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788520963.79147816 seconds ×3 + 9.64sWARNros2_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 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062969 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062969 ms (missed cycles : 2).[0m ×2 + 10.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272915 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272915 ms (missed cycles : 2).[0m ×2 + 10.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788520965.36276507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956577 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956577 ms (missed cycles : 2).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933088 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933088 ms (missed cycles : 2).[0m ×2 + 13.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.57sINFOros2_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 | 65 warnings · 138 info |
+ 0.00sWARNros2_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 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512679 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512679 ms (missed cycles : 3).[0m ×2 + 0.52sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237621 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237621 ms (missed cycles : 4).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304012 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304012 ms (missed cycles : 2).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 2.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.92sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788521123.39923167 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590996 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590996 ms (missed cycles : 3).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788521123.97165203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.836ms + 3.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429617 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429617 ms (missed cycles : 2).[0m ×2 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653815 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653815 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2).[0m ×2 + 9.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788521129.81178164 seconds ×3 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2).[0m ×2 + 9.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788521130.38975096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.32sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 10.76sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2).[0m ×2 + 12.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 44 warnings · 146 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901252 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901252 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255683 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255683 ms (missed cycles : 4).[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846883 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846883 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.57sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788520894.37648082 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788520894.96027970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078397 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078397 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.2769e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.32sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470473 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470473 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 6.90sWARNros2_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 + 6.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 6.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132189 ms (missed cycles : 3). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132189 ms (missed cycles : 3).[0m ×2 + 7.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 7.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947374 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947374 ms (missed cycles : 2).[0m ×2 + 8.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788520900.45040798 seconds ×3 + 8.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 9.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.21sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349155 ms (missed cycles : 3). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349155 ms (missed cycles : 3).[0m ×2 + 9.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788520901.02338219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.46sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.247ms + 9.61sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239592 ms (missed cycles : 4). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239592 ms (missed cycles : 4).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981850 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981850 ms (missed cycles : 2).[0m ×2 + 11.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745323 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745323 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 28 warnings · 116 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.036ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849850 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849850 ms (missed cycles : 2).[0m ×2 + 0.98sWARNros2_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 + 1.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.569ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354493 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354493 ms (missed cycles : 2).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.506ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086257 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086257 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788521202.50232458 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521203.10907817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.43sINFOmove_groupClearing octomap...[0m ×2 + 3.43sINFOmove_groupOctomap cleared.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.154ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615409 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615409 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521204.08922935 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521204.66471767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479468 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479468 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788521205.62661839 seconds ×3 + 6.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623384 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623384 ms (missed cycles : 2).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183837 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183837 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788520957.44350934 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788520958.02135181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2).[0m ×2 + 5.09sWARNglobal_costmap.global_costmapSensor origin at (0.15, -3.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2).[0m ×2 + 6.09sWARNglobal_costmap.global_costmapSensor origin at (0.13, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 20 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.63sINFOobjective_server_nodecaller: ×10 + 0.63sINFOobjective_server_nodetype: 0 ×10 + 0.63sINFOobjective_server_nodename: "" ×10 + 0.63sINFOobjective_server_nodeinstance_id: "" ×10 + 0.63sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.66sINFOmove_groupClearing octomap...[0m ×2 + 0.66sINFOmove_groupOctomap cleared.[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_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 + 2.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.74sWARNros2_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 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122529 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 20 warnings · 71 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901252 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901252 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255683 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255683 ms (missed cycles : 4).[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846883 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846883 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788520894.37648082 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788520894.96027970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078397 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078397 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.2769e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470473 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470473 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 20 warnings · 71 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901252 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901252 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255683 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255683 ms (missed cycles : 4).[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846883 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846883 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788520894.37648082 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788520894.96027970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078397 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078397 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.2769e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470473 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470473 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 0.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.86sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.67sINFOobjective_server_nodecaller: ×10 + 2.67sINFOobjective_server_nodetype: 0 ×10 + 2.67sINFOobjective_server_nodename: "" ×10 + 2.67sINFOobjective_server_nodeinstance_id: "" ×10 + 2.67sINFOobjective_server_node ×10 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191863 ms (missed cycles : 2).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 1.27sWARNros2_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 + 1.29sWARNros2_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 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132189 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132189 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947374 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947374 ms (missed cycles : 2).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788520900.45040798 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349155 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349155 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788520901.02338219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.247ms + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239592 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239592 ms (missed cycles : 4).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981850 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981850 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745323 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745323 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788520957.44350934 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788520958.02135181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2).[0m ×2 + 5.09sWARNglobal_costmap.global_costmapSensor origin at (0.15, -3.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2).[0m ×2 + 6.09sWARNglobal_costmap.global_costmapSensor origin at (0.13, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788520957.44350934 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788520958.02135181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2).[0m ×2 + 5.09sWARNglobal_costmap.global_costmapSensor origin at (0.15, -3.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2).[0m ×2 + 6.09sWARNglobal_costmap.global_costmapSensor origin at (0.13, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788520957.44350934 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788520958.02135181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2).[0m ×2 + 5.09sWARNglobal_costmap.global_costmapSensor origin at (0.15, -3.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2).[0m ×2 + 6.09sWARNglobal_costmap.global_costmapSensor origin at (0.13, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412251 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722251 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348515 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788520957.44350934 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788520958.02135181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037764 ms (missed cycles : 2).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699649 ms (missed cycles : 2).[0m ×2 + 5.09sWARNglobal_costmap.global_costmapSensor origin at (0.15, -3.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280455 ms (missed cycles : 2).[0m ×2 + 6.09sWARNglobal_costmap.global_costmapSensor origin at (0.13, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 47 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788520996.33290935 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.522ms + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.62) 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 (-1.34, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788520996.90699697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.103ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.13sINFOjoint_trajectory_controllerReceived new action goal + 6.13sINFOjoint_trajectory_controllerAccepted new action goal + 6.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 47 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788520996.33290935 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.522ms + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.62) 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 (-1.34, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788520996.90699697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.103ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.13sINFOjoint_trajectory_controllerReceived new action goal + 6.13sINFOjoint_trajectory_controllerAccepted new action goal + 6.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 47 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108814 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847523 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984759 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788520996.33290935 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584712 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.522ms + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.62) 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 (-1.34, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788520996.90699697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.103ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950452 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633469 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.13sINFOjoint_trajectory_controllerReceived new action goal + 6.13sINFOjoint_trajectory_controllerAccepted new action goal + 6.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 0.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.86sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.67sINFOobjective_server_nodecaller: ×10 + 2.67sINFOobjective_server_nodetype: 0 ×10 + 2.67sINFOobjective_server_nodename: "" ×10 + 2.67sINFOobjective_server_nodeinstance_id: "" ×10 + 2.67sINFOobjective_server_node ×10 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788521129.81178164 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788521130.38975096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 0.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.86sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.67sINFOobjective_server_nodecaller: ×10 + 2.67sINFOobjective_server_nodetype: 0 ×10 + 2.67sINFOobjective_server_nodename: "" ×10 + 2.67sINFOobjective_server_nodeinstance_id: "" ×10 + 2.67sINFOobjective_server_node ×10 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788521129.81178164 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788521130.38975096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788521129.81178164 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788521130.38975096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788521129.81178164 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788521130.38975096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788521129.81178164 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788521130.38975096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788521129.81178164 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788521130.38975096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226716 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665757 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788521129.81178164 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506333 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788521130.38975096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145558 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184347 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713270 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 22 warnings · 116 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.036ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849850 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849850 ms (missed cycles : 2).[0m ×2 + 0.98sWARNros2_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 + 1.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.569ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354493 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354493 ms (missed cycles : 2).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.506ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086257 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086257 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788521202.50232458 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521203.10907817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.43sINFOmove_groupClearing octomap...[0m ×2 + 3.43sINFOmove_groupOctomap cleared.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.154ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615409 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615409 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521204.08922935 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521204.66471767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479468 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479468 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788521205.62661839 seconds ×3 + 6.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.83sINFOobjective_server_nodecaller: ×10 + 1.83sINFOobjective_server_nodetype: 0 ×10 + 1.83sINFOobjective_server_nodename: "" ×10 + 1.83sINFOobjective_server_nodeinstance_id: "" ×10 + 1.83sINFOobjective_server_node ×10 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.87sINFOmove_groupClearing octomap...[0m ×2 + 1.87sINFOmove_groupOctomap cleared.[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.95sWARNros2_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 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 0.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.86sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.67sINFOobjective_server_nodecaller: ×10 + 2.67sINFOobjective_server_nodetype: 0 ×10 + 2.67sINFOobjective_server_nodename: "" ×10 + 2.67sINFOobjective_server_nodeinstance_id: "" ×10 + 2.67sINFOobjective_server_node ×10 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 27 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 0.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.86sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.67sINFOobjective_server_nodecaller: ×10 + 2.67sINFOobjective_server_nodetype: 0 ×10 + 2.67sINFOobjective_server_nodename: "" ×10 + 2.67sINFOobjective_server_nodeinstance_id: "" ×10 + 2.67sINFOobjective_server_node ×10 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.79sWARNros2_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 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 22 warnings · 300 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 0.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.86sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.67sINFOobjective_server_nodecaller: ×10 + 2.67sINFOobjective_server_nodetype: 0 ×10 + 2.67sINFOobjective_server_nodename: "" ×10 + 2.67sINFOobjective_server_nodeinstance_id: "" ×10 + 2.67sINFOobjective_server_node ×10 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 0.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.86sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.67sINFOobjective_server_nodecaller: ×10 + 2.67sINFOobjective_server_nodetype: 0 ×10 + 2.67sINFOobjective_server_nodename: "" ×10 + 2.67sINFOobjective_server_nodeinstance_id: "" ×10 + 2.67sINFOobjective_server_node ×10 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 0.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.86sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.67sINFOobjective_server_nodecaller: ×10 + 2.67sINFOobjective_server_nodetype: 0 ×10 + 2.67sINFOobjective_server_nodename: "" ×10 + 2.67sINFOobjective_server_nodeinstance_id: "" ×10 + 2.67sINFOobjective_server_node ×10 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058902 ms (missed cycles : 2).[0m ×2 + 0.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.86sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.67sINFOobjective_server_nodecaller: ×10 + 2.67sINFOobjective_server_nodetype: 0 ×10 + 2.67sINFOobjective_server_nodename: "" ×10 + 2.67sINFOobjective_server_nodeinstance_id: "" ×10 + 2.67sINFOobjective_server_node ×10 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.83sINFOobjective_server_nodecaller: ×10 + 1.83sINFOobjective_server_nodetype: 0 ×10 + 1.83sINFOobjective_server_nodename: "" ×10 + 1.83sINFOobjective_server_nodeinstance_id: "" ×10 + 1.83sINFOobjective_server_node ×10 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.87sINFOmove_groupClearing octomap...[0m ×2 + 1.87sINFOmove_groupOctomap cleared.[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.95sWARNros2_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 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122529 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122529 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292910 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455412 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520848.84719014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520848.85739779 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520849.43181062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520849.44195032 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483674 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520850.00731897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520850.15787888 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520850.74518299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255056 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520850.80530787 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788520851.37864828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971356 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.93sWARNros2_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 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920906 ms (missed cycles : 2).[0m ×2 | ||||