MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.6s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.0s	12 errors · 321 warnings · 1516 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/2026-09-04-12-43-49-890311-a03bc3edd8fc-7573 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.25sINFOstatic_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' + 4.25sINFOstatic_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' + 4.26sINFOstatic_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' + 4.26sINFOstatic_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' + 4.28sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.30sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.31sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.36sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.38sINFOmap_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. + 4.38sINFOmap_serverCreating + 4.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.48sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.50sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.53sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.54sINFOros2_control_node-12process started with pid [7718] ×2 + 4.54sINFOmove_group-24process started with pid [7732] ×2 + 4.54sINFOparameter_manager_node-25process started with pid [7782] ×2 + 4.54sINFOwaypoint_manager_node-26process started with pid [7783] ×2 + 4.54sINFOmove_joint_resampler_node-27process started with pid [7784] ×2 + 4.54sINFOmove_end_effector_resampler_node-28process started with pid [7785] ×2 + 4.54sINFOobjective_server_node_main-29process started with pid [7786] ×2 + 4.54sINFOcomponent_container_mt-30process started with pid [7787] ×2 + 4.54sINFOcomponent_container_mt-31process started with pid [7788] ×2 + 4.54sINFOexecute_objective_bridge-32process started with pid [7789] ×2 + 4.54sINFOui_teleop_bridge-33process started with pid [7790] ×2 + 4.54sINFOweb_bridge-34process started with pid [7791] ×2 + 4.54sINFOtf2_web_republisher_node-35process started with pid [7792] ×2 + 4.54sINFOvideo_server-36process started with pid [7793] ×2 + 4.54sINFOweb_bridge_auth_proxy-37process started with pid [7795] ×2 + 4.54sINFOweb_video_auth_proxy-38process started with pid [7797] ×2 + 4.55sINFOcomponent_container_isolated-1process started with pid [7623] ×2 + 4.55sINFOcomponent_container_isolated-2process started with pid [7624] ×2 + 4.55sINFOstatic_transform_publisher-3process started with pid [7625] ×2 + 4.55sINFOstatic_transform_publisher-4process started with pid [7626] ×2 + 4.55sINFOodom_qos_relay.py-5process started with pid [7627] ×2 + 4.55sINFOforward_stereo_publisher.py-6process started with pid [7628] ×2 + 4.55sINFOlidar_flattener.py-7process started with pid [7629] ×2 + 4.55sINFOstatic_transform_publisher-8process started with pid [7630] ×2 + 4.55sINFOstatic_transform_publisher-9process started with pid [7631] ×2 + 4.55sINFOscan_to_scan_filter_chain-10process started with pid [7716] ×2 + 4.55sINFOscan_to_scan_filter_chain-11process started with pid [7717] ×2 + 4.55sINFOros2-13process started with pid [7719] ×2 + 4.55sINFOros2-14process started with pid [7722] ×2 + 4.55sINFOros2-15process started with pid [7723] ×2 + 4.55sINFOros2-16process started with pid [7724] ×2 + 4.55sINFOros2-17process started with pid [7725] ×2 + 4.55sINFOros2-18process started with pid [7726] ×2 + 4.55sINFOros2-19process started with pid [7727] ×2 + 4.55sINFOros2-20process started with pid [7728] ×2 + 4.55sINFOros2-21process started with pid [7729] ×2 + 4.55sINFOros2-22process started with pid [7730] ×2 + 4.55sINFOros2-23process started with pid [7731] ×2 + 4.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.59sINFOcontroller_managerupdate rate is 600 Hz + 4.59sINFOcontroller_managerOverruns handling is : enabled + 4.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.59sWARNcontroller_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. + 4.60sINFOcontroller_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. + 4.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.61sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.62sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.62sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.63sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.63sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.63sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.63sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.63sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.63sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.63sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.63sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.63sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.63sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.63sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.63sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.63sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.63sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.63sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.63sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.63sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.63sWARNros2_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 + 4.64sINFOlifecycle_manager_localizationCreating + 4.66sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.67sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.67sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.67sINFOmap_serverConfiguring + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894519 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894519 ms (missed cycles : 4).[0m ×2 + 4.70sINFOcontroller_serverCreating controller server + 4.72sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.73sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.75sINFOlocal_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. + 4.75sINFOlocal_costmap.local_costmapCreating Costmap + 4.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.76sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.79sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.79sINFOamclConfiguring + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.80sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.80sINFOmap_serverActivating + 4.80sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.85sINFOsmoother_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. + 4.87sINFOrobot_state_publisherRobot initialized + 4.87sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.88sINFOcontroller_managerReceived robot description from topic. + 4.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.88sINFOsmoother_serverCreating smoother server + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.91sINFOvideo_server2026/09/04 12:43:56 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.91sINFOvideo_server2026/09/04 12:43:56 INF configuration loaded from /tmp/moveit-webrtc-eg9ivhnc/mediamtx.yml ×2 + 4.92sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.92sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.92sINFOamclActivating + 4.92sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.92sINFOvideo_server2026/09/04 12:43:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.92sINFOvideo_server2026/09/04 12:43:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.93sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.94sINFOamclSubscribed to map_topic: /map + 4.95sINFOplanner_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. + 4.95sINFOamclSubscribed to scan_topic: /scan_merged + 4.95sINFOamclCreated reinitialize_global_localization service + 4.95sINFOamclCreated request_nomotion_update service + 4.95sINFOamclA new map was received + 4.95sINFOamclInitializing particle filter instance + 4.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.96sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.97sINFOplanner_serverCreating + 5.01sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.01sINFOglobal_costmap.global_costmapCreating Costmap + 5.02sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.02sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.03sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.03sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.03sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.08sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.17sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.21sINFObt_navigatorCreating + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.27sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.135394 seconds + 5.27sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.27sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.28sINFOmove_groupLoaded robot model in 0.135394 seconds[0m ×2 + 5.28sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.28sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.28sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.29sINFOwaypoint_followerCreating + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.38sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.42sWARNlaser_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. + 5.43sWARNscan_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 + 5.45sWARNlaser_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. + 5.45sINFOlifecycle_manager_navigationCreating + 5.48sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.53sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.53sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.54sINFOcontroller_serverConfiguring controller interface + 5.54sINFOcontroller_servergetting progress checker plugins.. + 5.54sINFOcontroller_servergetting goal checker plugins.. + 5.54sINFOcontroller_serverController frequency set to 20.0000Hz + 5.54sINFOlocal_costmap.local_costmapConfiguring + 5.55sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.57sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.61sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.61sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.61sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.66sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.67sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.67sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.67sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.68sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.71sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464749 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464749 ms (missed cycles : 2).[0m ×2 + 5.72sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.72sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.73sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.73sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.73sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.73sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.73sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.74sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.74sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.74sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.75sINFOcontroller_serverOptimizer reset ×2 + 5.76sINFOcontroller_serverController Server has FollowPath controllers available. + 5.77sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.77sINFOsmoother_serverConfiguring smoother server + 5.78sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.80sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.81sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.81sINFOplanner_serverConfiguring + 5.81sINFOglobal_costmap.global_costmapConfiguring + 5.82sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.82sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.83sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.83sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.83sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.84sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.84sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.87sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.87sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.87sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.94sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.94sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.94sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.95sINFOplanner_serverPlanner Server has GridBased planners available. + 5.99sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.99sINFObehavior_serverConfiguring + 6.00sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.00sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.01sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.02sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.02sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.02sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.03sWARNmove_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 + 6.04sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.04sINFObehavior_serverConfiguring spin + 6.07sINFObehavior_serverConfiguring backup + 6.08sINFObehavior_serverConfiguring drive_on_heading + 6.09sINFObehavior_serverConfiguring assisted_teleop + 6.11sINFOamclParticle filter initialization completed + 6.11sINFObehavior_serverConfiguring wait + 6.12sINFOamclInitializing particles from estimated pose and covariance + 6.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.13sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.13sINFObt_navigatorConfiguring + 6.15sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.16sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.23sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.23sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.23sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.23sINFOwaypoint_manager_nodeLoaded robot model in 0.409272 seconds[0m ×2 + 6.23sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.23sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.24sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.35sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.39sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.39sINFOwaypoint_followerConfiguring + 6.42sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.42sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.42sINFOvelocity_smootherConfiguring velocity smoother + 6.43sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.43sINFOcontroller_serverActivating + 6.43sINFOlocal_costmap.local_costmapActivating + 6.43sINFOlocal_costmap.local_costmapChecking transform + 6.43sINFOlocal_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. ×5 + 6.48sINFOmove_group[2026-09-04 12:43:58.014] [moveit_pro_license] [info] ×2 + 6.48sINFOmove_group************************************************* ×4 + 6.48sINFOmove_group* MoveIt Pro License ×2 + 6.48sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.58sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.58sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.58sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.58sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.61sINFOros2_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 + 6.61sINFOros2_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 + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.64sWARNwaypoint_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. + 6.64sWARNwaypoint_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. + 6.64sWARNwaypoint_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. + 6.64sWARNwaypoint_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. + 6.64sWARNwaypoint_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 + 6.64sWARNwaypoint_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 + 6.64sWARNwaypoint_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 + 6.64sWARNwaypoint_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 + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826333 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826333 ms (missed cycles : 2).[0m ×2 + 6.90sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.90sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.90sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.90sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.90sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.90sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.91sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.91sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.91sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.92sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.92sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.92sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.92sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.92sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.94sINFOwaypoint_manager_node[2026-09-04 12:43:58.479] [moveit_pro_license] [info] ×2 + 6.94sINFOwaypoint_manager_node************************************************* ×4 + 6.94sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.94sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.38sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.38sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.39sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.47sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.47sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.47sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.48sWARNros2_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 + 7.48sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.48sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.48sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.48sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.48sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.48sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.48sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.48sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.48sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.48sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.48sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.48sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.48sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.48sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.48sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.48sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.48sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.48sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.48sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.48sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.48sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.48sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.60sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.60sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 7.60sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 7.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.68sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 7.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.68sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 7.68sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 7.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.69sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.71sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.71sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.71sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.71sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.71sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 7.71sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.71sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 7.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.72sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.72sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.72sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.72sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.72sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.72sINFOstreaming_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) + 7.72sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.72sINFOcomponent_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 + 7.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.72sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.72sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.72sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.72sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.75sINFOros2_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 + 7.75sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.75sWARNros2_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 + 7.81sINFOobjective_server_node[2026-09-04 12:43:59.345] [moveit_pro_license] [info] ×2 + 7.81sINFOobjective_server_node************************************************* ×4 + 7.81sINFOobjective_server_node* MoveIt Pro License ×2 + 7.81sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.88sINFOobjective_server_nodeLoaded robot model in 0.0339382 seconds[0m ×2 + 7.88sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.88sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.91sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.92sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 7.92sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 7.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632042 ms (missed cycles : 3). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632042 ms (missed cycles : 3).[0m ×2 + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.00sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.05sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 8.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 8.07sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 8.07sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 8.09sINFOros2-19process has finished cleanly [pid 7727] ×2 + 8.12sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 8.12sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 8.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 8.13sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 8.13sINFOplatform_velocity_controller_nav2configure successful + 8.13sINFOros2_control_nodeconfigure successful[0m ×6 + 8.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.27sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.45sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.45sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 8.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.53sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.53sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.53sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.54sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.54sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.54sINFOros2-18process has finished cleanly [pid 7726] ×2 + 8.55sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.56sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.63sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.63sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.72sINFOcomponent_container_mtLoaded robot model in 0.456099 seconds[0m ×2 + 8.72sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.72sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.83sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.83sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.83sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.83sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 8.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 8.86sINFOros2-15process has finished cleanly [pid 7723] ×2 + 8.89sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.89sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.90sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.91sINFOforce_torque_sensor_broadcasterconfigure successful + 8.91sINFOmove_groupMoveGroup debug mode is ON + 8.91sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.91sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.92sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.92sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.93sINFOlocal_costmap.local_costmapstart + 8.96sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.96sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.96sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.97sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.97sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.97sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.97sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.03sWARNcontroller_serverParameter controller_server.verbose not found + 9.03sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910256 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910256 ms (missed cycles : 2).[0m ×2 + 9.08sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.08sINFOmove_group ×8 + 9.08sINFOmove_group****************************************************** ×4 + 9.08sINFOmove_group* MoveGroup using: ×2 + 9.09sINFOmove_group* - apply_planning_scene_service ×2 + 9.09sINFOmove_group* - clear_octomap_service ×2 + 9.09sINFOmove_group* - get_group_urdf ×2 + 9.09sINFOmove_group* - load_geometry_from_file ×2 + 9.09sINFOmove_group* - get_planning_scene_service ×2 + 9.09sINFOmove_group* - kinematics_service ×2 + 9.09sINFOmove_group* - save_geometry_to_file ×2 + 9.09sINFOmove_group* - GetPlanningGroups ×2 + 9.09sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.09sINFOmove_group[0m ×2 + 9.09sINFOmove_group[92mYou can start planning now![0m ×2 + 9.14sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.14sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.14sINFOsmoother_serverActivating + 9.14sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.24sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.24sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.24sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 9.24sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.24sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.24sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 9.24sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.24sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.24sINFOplanner_serverActivating + 9.24sINFOglobal_costmap.global_costmapActivating + 9.24sINFOglobal_costmap.global_costmapChecking transform + 9.24sINFOglobal_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. + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.25sWARNplanning_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. + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.25sWARNplanning_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. + 9.25sWARNcomponent_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 + 9.25sWARNcomponent_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 + 9.25sWARNcomponent_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 + 9.25sWARNplanning_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. + 9.25sWARNplanning_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. + 9.25sWARNcomponent_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 + 9.25sWARNplanning_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. + 9.25sWARNplanning_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. + 9.25sWARNcomponent_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 + 9.25sWARNplanning_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. + 9.25sWARNcomponent_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 + 9.25sWARNplanning_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. + 9.25sWARNcomponent_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 + 9.25sWARNplanning_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. + 9.25sWARNcomponent_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 + 9.25sWARNplanning_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. + 9.25sWARNcomponent_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 + 9.25sWARNcomponent_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 + 9.25sWARNcomponent_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 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sINFOros2-13process has finished cleanly [pid 7719] ×2 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_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. + 9.26sWARNplanning_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. + 9.26sWARNcomponent_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 + 9.26sWARNplanning_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. + 9.26sWARNplanning_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. + 9.26sWARNcomponent_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 + 9.26sWARNplanning_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. + 9.26sWARNplanning_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. + 9.26sWARNcomponent_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 + 9.26sWARNcomponent_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 + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.31sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.31sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.31sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.31sINFOplatform_velocity_controllerconfigure successful + 9.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.32sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.32sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.58sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.58sINFOcomponent_container_mt[2026-09-04 12:44:01.121] [moveit_pro_license] [info] ×2 + 9.58sINFOcomponent_container_mt************************************************* ×4 + 9.58sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.58sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.64sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.64sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.64sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.65sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 9.65sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 9.65sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 9.67sWARNros2_control_nodeCamera render tick took 1.05 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.67sINFOros2-16process has finished cleanly [pid 7724] ×2 + 9.67sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 9.67sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 9.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 9.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 9.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 9.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 9.70sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 9.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.70sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.70sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.70sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.70sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.70sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.70sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.71sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.71sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 5.133ms + 9.74sINFOglobal_costmap.global_costmapstart + 9.94sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.95sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.04sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.04sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.04sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.04sINFOros2-17process has finished cleanly [pid 7725] ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227121 ms (missed cycles : 4). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227121 ms (missed cycles : 4).[0m ×2 + 10.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 10.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 10.31sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.31sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 10.31sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.31sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 10.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 10.75sINFOros2_control_node[2026-09-04 12:44:02.289] [info] Controller state will be published at 20 Hz. ×2 + 10.75sINFOros2_control_node[2026-09-04 12:44:02.290] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.79sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 10.80sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 10.90sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 10.90sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 10.90sINFObehavior_serverActivating + 10.90sINFObehavior_serverActivating spin + 10.90sINFObehavior_serverActivating backup + 10.90sINFObehavior_serverActivating drive_on_heading + 10.90sINFObehavior_serverActivating assisted_teleop + 10.90sINFObehavior_serverActivating wait + 10.90sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 10.96sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.01sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.01sINFObt_navigatorActivating + 11.09sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.11sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.11sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.11sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.11sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.11sINFOros2-22process has finished cleanly [pid 7730] ×2 + 11.11sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 11.11sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878167 ms (missed cycles : 2). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878167 ms (missed cycles : 2).[0m ×2 + 11.16sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.16sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.16sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.16sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.16sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.16sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.17sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.17sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.20sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.20sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.20sINFOwaypoint_followerActivating + 11.20sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.31sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.31sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.31sINFOvelocity_smootherActivating + 11.31sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.41sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.41sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.41sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 11.51sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.51sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.51sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.51sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 11.51sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.51sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 11.52sINFOros2-14process has finished cleanly [pid 7722] ×2 + 11.56sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.57sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.57sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.96sINFOros2_control_node[2026-09-04 12:44:03.493] [info] Controller state will be published at 20 Hz. ×2 + 11.96sINFOros2_control_node[2026-09-04 12:44:03.494] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818738 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818738 ms (missed cycles : 2).[0m ×2 + 12.31sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.31sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.31sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.31sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.31sINFOros2-23process has finished cleanly [pid 7731] ×2 + 12.39sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 12.39sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 12.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.81sINFOros2_control_node[2026-09-04 12:44:04.344] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.81sINFOros2_control_node[2026-09-04 12:44:04.347] [info] Controller state will be published at 10 Hz. ×2 + 12.81sINFOros2_control_node[2026-09-04 12:44:04.348] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.15sINFOros2-20process has finished cleanly [pid 7728] ×2 + 13.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.18sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf + 13.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.18sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rv7ucgjm --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_8lnv1ne_ --params-file /tmp/launch_params_pxqebitf [0m ×2 + 13.24sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.25sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.25sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.25sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228916 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228916 ms (missed cycles : 2).[0m ×2 + 13.71sINFOros2_control_node[2026-09-04 12:44:05.247] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.71sINFOros2_control_node[2026-09-04 12:44:05.249] [info] Controller state will be published at 10 Hz. ×2 + 13.71sINFOros2_control_node[2026-09-04 12:44:05.250] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.04sINFOros2-21process has finished cleanly [pid 7729] ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562155 ms (missed cycles : 3). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562155 ms (missed cycles : 3).[0m ×2 + 14.97sWARNros2_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 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162109 ms (missed cycles : 4). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162109 ms (missed cycles : 4).[0m ×2 + 15.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 17.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 18.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.90sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.90sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.90sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.90sINFOobjective_server_nodecaller: ×10 + 18.90sINFOobjective_server_nodetype: 0 ×10 + 18.90sINFOobjective_server_nodename: "" ×10 + 18.90sINFOobjective_server_nodeinstance_id: "" ×10 + 18.90sINFOobjective_server_node ×10 + 18.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.94sINFOmove_groupClearing octomap...[0m ×2 + 18.94sINFOmove_groupOctomap cleared.[0m ×2 + 18.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 19.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 19.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 20.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 20.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.87sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 21.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 21.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.2s	3 errors · 275 warnings · 253 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.968ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514040 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514040 ms (missed cycles : 3).[0m ×2 + 0.56sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.511ms + 1.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.928ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706850 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706850 ms (missed cycles : 3).[0m ×2 + 1.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 1.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.120ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.107ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205433 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205433 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOjoint_trajectory_controllerGot request to cancel goal + 2.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.96sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526061.60139632 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 + 2.97sINFOros2_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 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.335ms + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-0.54, 2.96) 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 (-1.44, 2.98) 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: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788526062.17991066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.656ms + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440357 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440357 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568147 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568147 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184516 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184516 ms (missed cycles : 4).[0m ×2 + 5.95sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 6.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.33sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.33sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473828 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473828 ms (missed cycles : 3).[0m ×2 + 7.10sWARNros2_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 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655841 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655841 ms (missed cycles : 3).[0m ×2 + 8.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.968ms + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267426 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267426 ms (missed cycles : 2).[0m ×2 + 9.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.606ms + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.189ms + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570267 ms (missed cycles : 3). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570267 ms (missed cycles : 3).[0m ×2 + 10.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.843ms + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788429 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788429 ms (missed cycles : 2).[0m ×2 + 11.10sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.969ms + 11.70sINFOamclParticle filter update iteration stats: 3107 particles 723 points - 7.550ms + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694110 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694110 ms (missed cycles : 2).[0m ×2 + 12.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 2177 particles 723 points - 4.265ms + 12.86sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 3.192ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700744 ms (missed cycles : 5). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700744 ms (missed cycles : 5).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms ×2 + 14.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166531 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166531 ms (missed cycles : 2).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.124ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515732 ms (missed cycles : 3). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515732 ms (missed cycles : 3).[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 16.38sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.269ms + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319417 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319417 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 17.57sWARNros2_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 + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185412 ms (missed cycles : 3). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185412 ms (missed cycles : 3).[0m ×2 + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.725609 ms (missed cycles : 6). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.725609 ms (missed cycles : 6).[0m ×2 + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092522 ms (missed cycles : 5). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092522 ms (missed cycles : 5).[0m ×2 + 20.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417006 ms (missed cycles : 2). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417006 ms (missed cycles : 2).[0m ×2 + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.869ms + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139881 ms (missed cycles : 4). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139881 ms (missed cycles : 4).[0m ×2 + 22.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030037 ms (missed cycles : 2). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030037 ms (missed cycles : 2).[0m ×2 + 23.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×4 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716546 ms (missed cycles : 3). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716546 ms (missed cycles : 3).[0m ×2 + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562983 ms (missed cycles : 3). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562983 ms (missed cycles : 3).[0m ×2 + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586785 ms (missed cycles : 3). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586785 ms (missed cycles : 3).[0m ×2 + 26.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348148 ms (missed cycles : 2). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348148 ms (missed cycles : 2).[0m ×2 + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 27.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920317 ms (missed cycles : 2). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920317 ms (missed cycles : 2).[0m ×2 + 28.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 29.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.338ms + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139001 ms (missed cycles : 2). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139001 ms (missed cycles : 2).[0m ×2 + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 30.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561588 ms (missed cycles : 3). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561588 ms (missed cycles : 3).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877772 ms (missed cycles : 5). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877772 ms (missed cycles : 5).[0m ×2 + 32.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419982 ms (missed cycles : 2). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419982 ms (missed cycles : 2).[0m ×2 + 32.83sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542396 ms (missed cycles : 6). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542396 ms (missed cycles : 6).[0m ×2 + 34.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 34.70sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.70sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595973 ms (missed cycles : 3). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595973 ms (missed cycles : 3).[0m ×2 + 34.95sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894933 ms (missed cycles : 2). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894933 ms (missed cycles : 2).[0m ×2 + 36.17sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183514 ms (missed cycles : 4). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183514 ms (missed cycles : 4).[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501885 ms (missed cycles : 4). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501885 ms (missed cycles : 4).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.030934 ms (missed cycles : 6). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.030934 ms (missed cycles : 6).[0m ×2 + 39.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 39.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 39.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 40.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340686 ms (missed cycles : 3). + 40.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340686 ms (missed cycles : 3).[0m ×2 + 40.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 40.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.090ms + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247788 ms (missed cycles : 3). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247788 ms (missed cycles : 3).[0m ×2 + 42.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618756 ms (missed cycles : 3). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618756 ms (missed cycles : 3).[0m ×2 + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371171 ms (missed cycles : 2). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371171 ms (missed cycles : 2).[0m ×2 + 44.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850823 ms (missed cycles : 3). + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850823 ms (missed cycles : 3).[0m ×2 + 45.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441626 ms (missed cycles : 3). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441626 ms (missed cycles : 3).[0m ×2 + 47.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168702 ms (missed cycles : 2). + 47.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168702 ms (missed cycles : 2).[0m ×2 + 47.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 47.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.457ms + 48.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160773 ms (missed cycles : 2). + 48.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160773 ms (missed cycles : 2).[0m ×2 + 48.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225935 ms (missed cycles : 4). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225935 ms (missed cycles : 4).[0m ×2 + 49.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 49.91sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385011 ms (missed cycles : 3). + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385011 ms (missed cycles : 3).[0m ×2 + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989081 ms (missed cycles : 2). + 51.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989081 ms (missed cycles : 2).[0m ×2 + 52.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688257 ms (missed cycles : 2). + 52.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688257 ms (missed cycles : 2).[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842539 ms (missed cycles : 2). + 53.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842539 ms (missed cycles : 2).[0m ×2 + 53.95sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 54.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538604 ms (missed cycles : 2). + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538604 ms (missed cycles : 2).[0m ×2 + 54.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 55.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787296 ms (missed cycles : 2). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787296 ms (missed cycles : 2).[0m ×2 + 56.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 56.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140104 ms (missed cycles : 4). + 56.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140104 ms (missed cycles : 4).[0m ×2 + 57.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186047 ms (missed cycles : 2). + 57.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186047 ms (missed cycles : 2).[0m ×2 + 58.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 58.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689518 ms (missed cycles : 4). + 58.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689518 ms (missed cycles : 4).[0m ×2 + 59.02sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 59.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318429 ms (missed cycles : 3). + 59.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318429 ms (missed cycles : 3).[0m ×2 + 60.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845009 ms (missed cycles : 2). + 60.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845009 ms (missed cycles : 2).[0m ×2 + 62.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.438533 ms (missed cycles : 4). + 62.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.438533 ms (missed cycles : 4).[0m ×2 + 63.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160607 ms (missed cycles : 4). + 63.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160607 ms (missed cycles : 4).[0m ×2 + 63.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.604ms + 64.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367198 ms (missed cycles : 5). + 64.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367198 ms (missed cycles : 5).[0m ×2 + 65.12sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 65.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465883 ms (missed cycles : 4). + 65.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465883 ms (missed cycles : 4).[0m ×2 + 65.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 66.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394874 ms (missed cycles : 2). + 66.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394874 ms (missed cycles : 2).[0m ×2 + 66.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 67.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297846 ms (missed cycles : 4). + 67.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297846 ms (missed cycles : 4).[0m ×2 + 67.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 68.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788526126.76015115 seconds ×3 + 68.23sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.23sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761435 ms (missed cycles : 2). + 68.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761435 ms (missed cycles : 2).[0m ×2 + 68.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.66sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788526127.33844876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.600ms + 69.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066614 ms (missed cycles : 2). + 69.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066614 ms (missed cycles : 2).[0m ×2 + 70.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777735 ms (missed cycles : 3). + 70.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777735 ms (missed cycles : 3).[0m ×2 + 71.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 71.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	246 warnings · 206 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656549 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656549 ms (missed cycles : 3).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251840 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251840 ms (missed cycles : 2).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941786 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941786 ms (missed cycles : 3).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.25sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788525902.24144983 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788525902.82079625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.90sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 3.382ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384127 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384127 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.03sWARNros2_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 ×6 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423489 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423489 ms (missed cycles : 2).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441478 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441478 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.47sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670777 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670777 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587086 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587086 ms (missed cycles : 3).[0m ×2 + 7.98sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 3.970ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744441 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744441 ms (missed cycles : 3).[0m ×2 + 8.55sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.763ms + 9.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.268ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086536 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086536 ms (missed cycles : 2).[0m ×2 + 9.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 10.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345943 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345943 ms (missed cycles : 3).[0m ×2 + 10.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.380ms + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657929 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657929 ms (missed cycles : 3).[0m ×2 + 11.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 12.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181547 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181547 ms (missed cycles : 2).[0m ×2 + 13.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968537 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968537 ms (missed cycles : 3).[0m ×2 + 14.27sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904969 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904969 ms (missed cycles : 2).[0m ×2 + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107336 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107336 ms (missed cycles : 2).[0m ×2 + 16.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713258 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713258 ms (missed cycles : 3).[0m ×2 + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773936 ms (missed cycles : 2). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773936 ms (missed cycles : 2).[0m ×2 + 18.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968760 ms (missed cycles : 2). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968760 ms (missed cycles : 2).[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976349 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976349 ms (missed cycles : 2).[0m ×2 + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166263 ms (missed cycles : 2). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166263 ms (missed cycles : 2).[0m ×2 + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788282 ms (missed cycles : 2). + 22.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788282 ms (missed cycles : 2).[0m ×2 + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558293 ms (missed cycles : 3). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558293 ms (missed cycles : 3).[0m ×2 + 23.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212112 ms (missed cycles : 2). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212112 ms (missed cycles : 2).[0m ×2 + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 25.21sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168309 ms (missed cycles : 4). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168309 ms (missed cycles : 4).[0m ×2 + 25.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms ×2 + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935155 ms (missed cycles : 3). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935155 ms (missed cycles : 3).[0m ×2 + 27.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965970 ms (missed cycles : 2). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965970 ms (missed cycles : 2).[0m ×2 + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180028 ms (missed cycles : 2). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180028 ms (missed cycles : 2).[0m ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.526ms + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782335 ms (missed cycles : 3). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782335 ms (missed cycles : 3).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 30.69sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087849 ms (missed cycles : 4). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087849 ms (missed cycles : 4).[0m ×2 + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms ×2 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196811 ms (missed cycles : 3). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196811 ms (missed cycles : 3).[0m ×2 + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 33.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169097 ms (missed cycles : 3). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169097 ms (missed cycles : 3).[0m ×2 + 33.88sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574094 ms (missed cycles : 3). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574094 ms (missed cycles : 3).[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579954 ms (missed cycles : 3). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579954 ms (missed cycles : 3).[0m ×2 + 35.74sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349392 ms (missed cycles : 3). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349392 ms (missed cycles : 3).[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527704 ms (missed cycles : 2). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527704 ms (missed cycles : 2).[0m ×2 + 37.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×4 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211875 ms (missed cycles : 3). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211875 ms (missed cycles : 3).[0m ×2 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876274 ms (missed cycles : 3). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876274 ms (missed cycles : 3).[0m ×2 + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695605 ms (missed cycles : 3). + 40.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695605 ms (missed cycles : 3).[0m ×2 + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716755 ms (missed cycles : 2). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716755 ms (missed cycles : 2).[0m ×2 + 42.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540290 ms (missed cycles : 3). + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540290 ms (missed cycles : 3).[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.018337 ms (missed cycles : 5). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.018337 ms (missed cycles : 5).[0m ×2 + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119016 ms (missed cycles : 2). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119016 ms (missed cycles : 2).[0m ×2 + 45.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926494 ms (missed cycles : 3). + 45.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926494 ms (missed cycles : 3).[0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016478 ms (missed cycles : 4). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016478 ms (missed cycles : 4).[0m ×2 + 46.83sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 47.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423105 ms (missed cycles : 4). + 47.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423105 ms (missed cycles : 4).[0m ×2 + 48.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818631 ms (missed cycles : 2). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818631 ms (missed cycles : 2).[0m ×2 + 49.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.586ms + 50.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139474 ms (missed cycles : 4). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139474 ms (missed cycles : 4).[0m ×2 + 51.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039023 ms (missed cycles : 3). + 51.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039023 ms (missed cycles : 3).[0m ×2 + 51.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341652 ms (missed cycles : 4). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341652 ms (missed cycles : 4).[0m ×2 + 53.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502060 ms (missed cycles : 3). + 53.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502060 ms (missed cycles : 3).[0m ×2 + 54.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157117 ms (missed cycles : 3). + 54.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157117 ms (missed cycles : 3).[0m ×2 + 54.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280148 ms (missed cycles : 5). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280148 ms (missed cycles : 5).[0m ×2 + 56.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5). + 56.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5).[0m ×2 + 57.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4). + 57.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4).[0m ×2 + 58.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3). + 58.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3).[0m ×2 + 59.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 59.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3). + 59.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3).[0m ×2 + 59.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788525959.45093179 seconds ×3 + 59.60sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.60sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 59.90sWARNlocal_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. ×6 + 59.90sWARNlocal_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. ×6 + 60.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.03sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788525960.03492403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2). + 60.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2).[0m ×2 + 60.45sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 60.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.903ms + 60.76sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2). + 61.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2).[0m ×2 + 62.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4). + 62.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.2s	247 warnings · 200 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2 + 0.48sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788526133.24858499 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788526133.82701635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.86sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5).[0m ×2 + 5.65sWARNros2_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 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028167 ms (missed cycles : 4). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028167 ms (missed cycles : 4).[0m ×2 + 8.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.640ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035939 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035939 ms (missed cycles : 3).[0m ×2 + 9.02sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.023ms + 9.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.972ms + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028382 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028382 ms (missed cycles : 2).[0m ×2 + 10.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.706ms + 10.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 10.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.691ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669843 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669843 ms (missed cycles : 2).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 2659 particles 723 points - 6.535ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.487ms + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013762 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013762 ms (missed cycles : 2).[0m ×2 + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346996 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346996 ms (missed cycles : 3).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613028 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613028 ms (missed cycles : 3).[0m ×2 + 14.35sWARNros2_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 + 14.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 14.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777954 ms (missed cycles : 3). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777954 ms (missed cycles : 3).[0m ×2 + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 16.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355420 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355420 ms (missed cycles : 2).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706358 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706358 ms (missed cycles : 3).[0m ×2 + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138664 ms (missed cycles : 3). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138664 ms (missed cycles : 3).[0m ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 18.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071786 ms (missed cycles : 3). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071786 ms (missed cycles : 3).[0m ×2 + 19.82sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 20.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891620 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891620 ms (missed cycles : 3).[0m ×2 + 21.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194361 ms (missed cycles : 2). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194361 ms (missed cycles : 2).[0m ×2 + 21.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569185 ms (missed cycles : 3). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569185 ms (missed cycles : 3).[0m ×2 + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms ×2 + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510522 ms (missed cycles : 4). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510522 ms (missed cycles : 4).[0m ×2 + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353279 ms (missed cycles : 3). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353279 ms (missed cycles : 3).[0m ×2 + 25.41sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198472 ms (missed cycles : 2). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198472 ms (missed cycles : 2).[0m ×2 + 26.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 26.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888251 ms (missed cycles : 2). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888251 ms (missed cycles : 2).[0m ×2 + 27.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158301 ms (missed cycles : 4). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158301 ms (missed cycles : 4).[0m ×2 + 28.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.684ms + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583112 ms (missed cycles : 2). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583112 ms (missed cycles : 2).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 30.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms ×2 + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039594 ms (missed cycles : 4). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039594 ms (missed cycles : 4).[0m ×2 + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097295 ms (missed cycles : 5). + 31.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097295 ms (missed cycles : 5).[0m ×2 + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457353 ms (missed cycles : 3). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457353 ms (missed cycles : 3).[0m ×2 + 32.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.077ms + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879998 ms (missed cycles : 5). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879998 ms (missed cycles : 5).[0m ×2 + 34.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 34.50sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855338 ms (missed cycles : 3). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855338 ms (missed cycles : 3).[0m ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395392 ms (missed cycles : 3). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395392 ms (missed cycles : 3).[0m ×2 + 36.01sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465291 ms (missed cycles : 3). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465291 ms (missed cycles : 3).[0m ×2 + 38.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589755 ms (missed cycles : 4). + 38.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589755 ms (missed cycles : 4).[0m ×2 + 39.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440181 ms (missed cycles : 3). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440181 ms (missed cycles : 3).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665505 ms (missed cycles : 3). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665505 ms (missed cycles : 3).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786551 ms (missed cycles : 3). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786551 ms (missed cycles : 3).[0m ×2 + 41.60sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277192 ms (missed cycles : 3). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277192 ms (missed cycles : 3).[0m ×2 + 42.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 43.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952987 ms (missed cycles : 5). + 43.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952987 ms (missed cycles : 5).[0m ×2 + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692102 ms (missed cycles : 2). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692102 ms (missed cycles : 2).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334168 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334168 ms (missed cycles : 3).[0m ×2 + 46.67sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461929 ms (missed cycles : 2). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461929 ms (missed cycles : 2).[0m ×2 + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757692 ms (missed cycles : 2). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757692 ms (missed cycles : 2).[0m ×2 + 48.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053060 ms (missed cycles : 4). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053060 ms (missed cycles : 4).[0m ×2 + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038456 ms (missed cycles : 2). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038456 ms (missed cycles : 2).[0m ×2 + 51.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527840 ms (missed cycles : 2). + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527840 ms (missed cycles : 2).[0m ×2 + 52.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 52.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933982 ms (missed cycles : 2). + 52.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933982 ms (missed cycles : 2).[0m ×2 + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584206 ms (missed cycles : 3). + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584206 ms (missed cycles : 3).[0m ×2 + 54.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853247 ms (missed cycles : 2). + 54.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853247 ms (missed cycles : 2).[0m ×2 + 55.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656993 ms (missed cycles : 4). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656993 ms (missed cycles : 4).[0m ×2 + 56.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445883 ms (missed cycles : 3). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445883 ms (missed cycles : 3).[0m ×2 + 57.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832949 ms (missed cycles : 3). + 57.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832949 ms (missed cycles : 3).[0m ×2 + 58.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037912 ms (missed cycles : 2). + 58.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037912 ms (missed cycles : 2).[0m ×2 + 59.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 59.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942302 ms (missed cycles : 2). + 59.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942302 ms (missed cycles : 2).[0m ×2 + 60.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788526190.44714260 seconds ×3 + 60.08sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.08sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.58sWARNlocal_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. ×6 + 60.58sWARNlocal_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. ×6 + 60.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.60sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.65sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788526191.03257990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.01sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 61.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610171 ms (missed cycles : 3). + 61.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610171 ms (missed cycles : 3).[0m ×2 + 61.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.145ms + 61.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416417 ms (missed cycles : 3). + 62.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416417 ms (missed cycles : 3).[0m ×2 + 62.83sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 63.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266437 ms (missed cycles : 3). + 63.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266437 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.2s	244 warnings · 218 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5).[0m ×2 + 1.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.14sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788525998.41647387 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.78) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.52, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3).[0m ×2 + 3.32sWARNlocal_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 + 3.32sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788525999.01666451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.292ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2).[0m ×2 + 4.91sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.42sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.42sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485637 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485637 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178764 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178764 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.173ms + 9.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.294ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046671 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046671 ms (missed cycles : 3).[0m ×2 + 9.99sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.142ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.844ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910370 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910370 ms (missed cycles : 2).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.242ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749359 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749359 ms (missed cycles : 3).[0m ×2 + 11.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.114ms + 12.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.855ms + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262046 ms (missed cycles : 3). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262046 ms (missed cycles : 3).[0m ×2 + 12.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.018ms + 13.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.679ms + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041213 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041213 ms (missed cycles : 3).[0m ×2 + 14.16sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 8.197ms + 14.74sINFOamclParticle filter update iteration stats: 2617 particles 723 points - 5.727ms + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484055 ms (missed cycles : 3). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484055 ms (missed cycles : 3).[0m ×2 + 15.33sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 15.37sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 3.961ms + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366569 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366569 ms (missed cycles : 2).[0m ×2 + 16.01sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.966ms + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487584 ms (missed cycles : 3). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487584 ms (missed cycles : 3).[0m ×2 + 17.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767219 ms (missed cycles : 3). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767219 ms (missed cycles : 3).[0m ×2 + 18.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906744 ms (missed cycles : 5). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906744 ms (missed cycles : 5).[0m ×2 + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687827 ms (missed cycles : 2). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687827 ms (missed cycles : 2).[0m ×2 + 20.34sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 20.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.269ms + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865057 ms (missed cycles : 2). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865057 ms (missed cycles : 2).[0m ×2 + 21.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683436 ms (missed cycles : 3). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683436 ms (missed cycles : 3).[0m ×2 + 22.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177151 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177151 ms (missed cycles : 3).[0m ×2 + 23.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536500 ms (missed cycles : 3). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536500 ms (missed cycles : 3).[0m ×2 + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.493ms + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437851 ms (missed cycles : 3). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437851 ms (missed cycles : 3).[0m ×2 + 25.93sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 26.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.474ms + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018374 ms (missed cycles : 3). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018374 ms (missed cycles : 3).[0m ×2 + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577627 ms (missed cycles : 3). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577627 ms (missed cycles : 3).[0m ×2 + 27.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.528ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886045 ms (missed cycles : 3). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886045 ms (missed cycles : 3).[0m ×2 + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.111ms + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872595 ms (missed cycles : 2). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872595 ms (missed cycles : 2).[0m ×2 + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957776 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957776 ms (missed cycles : 2).[0m ×2 + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 31.40sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 31.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975814 ms (missed cycles : 4). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975814 ms (missed cycles : 4).[0m ×2 + 32.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.663ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 32.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173112 ms (missed cycles : 3). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173112 ms (missed cycles : 3).[0m ×2 + 33.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993997 ms (missed cycles : 5). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993997 ms (missed cycles : 5).[0m ×2 + 33.83sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 34.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039750 ms (missed cycles : 2). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039750 ms (missed cycles : 2).[0m ×2 + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481483 ms (missed cycles : 3). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481483 ms (missed cycles : 3).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348362 ms (missed cycles : 3). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348362 ms (missed cycles : 3).[0m ×2 + 37.98sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790002 ms (missed cycles : 2). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790002 ms (missed cycles : 2).[0m ×2 + 38.81sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830616 ms (missed cycles : 5). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830616 ms (missed cycles : 5).[0m ×2 + 39.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102528 ms (missed cycles : 3). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102528 ms (missed cycles : 3).[0m ×2 + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 41.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927708 ms (missed cycles : 2). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927708 ms (missed cycles : 2).[0m ×2 + 41.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 42.09sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 42.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 42.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942178 ms (missed cycles : 3). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942178 ms (missed cycles : 3).[0m ×2 + 42.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908098 ms (missed cycles : 2). + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908098 ms (missed cycles : 2).[0m ×2 + 43.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 44.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945459 ms (missed cycles : 5). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945459 ms (missed cycles : 5).[0m ×2 + 45.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324432 ms (missed cycles : 3). + 45.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324432 ms (missed cycles : 3).[0m ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624561 ms (missed cycles : 2). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624561 ms (missed cycles : 2).[0m ×2 + 47.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.374ms + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781510 ms (missed cycles : 3). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781510 ms (missed cycles : 3).[0m ×2 + 48.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 49.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 49.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 49.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873079 ms (missed cycles : 2). + 49.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873079 ms (missed cycles : 2).[0m ×2 + 50.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.711ms + 50.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219357 ms (missed cycles : 4). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219357 ms (missed cycles : 4).[0m ×2 + 51.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471788 ms (missed cycles : 3). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471788 ms (missed cycles : 3).[0m ×2 + 53.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056481 ms (missed cycles : 5). + 53.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056481 ms (missed cycles : 5).[0m ×2 + 53.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 54.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179902 ms (missed cycles : 2). + 54.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179902 ms (missed cycles : 2).[0m ×2 + 54.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 55.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240006 ms (missed cycles : 3). + 55.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240006 ms (missed cycles : 3).[0m ×2 + 55.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788526050.62681460 seconds ×3 + 55.42sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.42sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.82sWARNlocal_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 + 55.82sWARNlocal_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 + 55.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.93sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.96sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788526051.20691347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829300 ms (missed cycles : 3). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829300 ms (missed cycles : 3).[0m ×2 + 56.38sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 56.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.627ms + 57.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036248 ms (missed cycles : 2). + 57.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036248 ms (missed cycles : 2).[0m ×2 + 58.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543353 ms (missed cycles : 5). + 58.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543353 ms (missed cycles : 5).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	179 warnings · 379 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.54sINFOobjective_server_nodecaller: ×12 + 0.54sINFOobjective_server_nodetype: 0 ×12 + 0.54sINFOobjective_server_nodename: "" ×12 + 0.54sINFOobjective_server_nodeinstance_id: "" ×12 + 0.54sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.58sINFOmove_groupClearing octomap...[0m ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 1.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 1.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 2.10sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_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 + 2.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 2.68sWARNros2_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 ×6 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164917 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164917 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954149 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954149 ms (missed cycles : 2).[0m ×2 + 7.62sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.66sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 2.680ms + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722097 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722097 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162281 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162281 ms (missed cycles : 2).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069278 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069278 ms (missed cycles : 4).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216637 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216637 ms (missed cycles : 2).[0m ×2 + 12.66sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286318 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286318 ms (missed cycles : 2).[0m ×2 + 13.23sWARNros2_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 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837206 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837206 ms (missed cycles : 3).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360968 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360968 ms (missed cycles : 2).[0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085505 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085505 ms (missed cycles : 2).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678594 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678594 ms (missed cycles : 2).[0m ×2 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669012 ms (missed cycles : 3). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669012 ms (missed cycles : 3).[0m ×2 + 18.17sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×10 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337764 ms (missed cycles : 3). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337764 ms (missed cycles : 3).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425522 ms (missed cycles : 3). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425522 ms (missed cycles : 3).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640829 ms (missed cycles : 2). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640829 ms (missed cycles : 2).[0m ×2 + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295371 ms (missed cycles : 2). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295371 ms (missed cycles : 2).[0m ×2 + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875152 ms (missed cycles : 4). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875152 ms (missed cycles : 4).[0m ×2 + 24.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204828 ms (missed cycles : 3). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204828 ms (missed cycles : 3).[0m ×2 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557858 ms (missed cycles : 3). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557858 ms (missed cycles : 3).[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257315 ms (missed cycles : 2). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257315 ms (missed cycles : 2).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193119 ms (missed cycles : 4). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193119 ms (missed cycles : 4).[0m ×2 + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027365 ms (missed cycles : 3). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027365 ms (missed cycles : 3).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828070 ms (missed cycles : 3). + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828070 ms (missed cycles : 3).[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029356 ms (missed cycles : 2). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029356 ms (missed cycles : 2).[0m ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668250 ms (missed cycles : 3). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668250 ms (missed cycles : 3).[0m ×2 + 33.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512224 ms (missed cycles : 3). + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512224 ms (missed cycles : 3).[0m ×2 + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630101 ms (missed cycles : 3). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630101 ms (missed cycles : 3).[0m ×2 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157481 ms (missed cycles : 3). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157481 ms (missed cycles : 3).[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397388 ms (missed cycles : 3). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397388 ms (missed cycles : 3).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346465 ms (missed cycles : 3). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346465 ms (missed cycles : 3).[0m ×2 + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475133 ms (missed cycles : 4). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475133 ms (missed cycles : 4).[0m ×2 + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976058 ms (missed cycles : 2). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976058 ms (missed cycles : 2).[0m ×2 + 39.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 40.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756205 ms (missed cycles : 3). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756205 ms (missed cycles : 3).[0m ×2 + 41.09sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.888ms + 41.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976077 ms (missed cycles : 3). + 41.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976077 ms (missed cycles : 3).[0m ×2 + 42.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464024 ms (missed cycles : 3). + 42.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464024 ms (missed cycles : 3).[0m ×2 + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304392 ms (missed cycles : 2). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304392 ms (missed cycles : 2).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932143 ms (missed cycles : 2). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932143 ms (missed cycles : 2).[0m ×2 + 44.97sWARNros2_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 + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291127 ms (missed cycles : 2). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291127 ms (missed cycles : 2).[0m ×2 + 46.17sINFOjoint_trajectory_controllerGoal reached, success! + 46.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788525896.10414481 seconds ×3 + 46.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.74sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788525896.69131970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040396 ms (missed cycles : 5). + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040396 ms (missed cycles : 5).[0m ×2 + 47.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.334ms + 47.90sINFOobjective_server_nodeFound path in 0 iterations (3.1046e-05 s). ×2 + 47.96sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886515 ms (missed cycles : 2). + 48.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886515 ms (missed cycles : 2).[0m ×2 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179409 ms (missed cycles : 2). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179409 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.6s	150 warnings · 183 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262948 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262948 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435635 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435635 ms (missed cycles : 3).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 1.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.95sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788525965.81507134 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137512 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137512 ms (missed cycles : 3).[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620934 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620934 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788525967.38633823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902173 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902173 ms (missed cycles : 2).[0m ×2 + 4.41sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594862 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594862 ms (missed cycles : 4).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.14sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590386 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590386 ms (missed cycles : 4).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980020 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980020 ms (missed cycles : 2).[0m ×2 + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.301ms + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459442 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459442 ms (missed cycles : 3).[0m ×2 + 9.50sWARNros2_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 + 9.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.688ms + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876644 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876644 ms (missed cycles : 3).[0m ×2 + 10.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.717ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628093 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628093 ms (missed cycles : 3).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.030ms + 11.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.464ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915125 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915125 ms (missed cycles : 2).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.803ms + 12.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232794 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232794 ms (missed cycles : 2).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 5.662ms + 13.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.133ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.908162 ms (missed cycles : 5). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.908162 ms (missed cycles : 5).[0m ×2 + 14.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 14.82sWARNros2_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 + 14.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576720 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576720 ms (missed cycles : 3).[0m ×2 + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.237ms + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527766 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527766 ms (missed cycles : 3).[0m ×2 + 16.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458036 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458036 ms (missed cycles : 3).[0m ×2 + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208493 ms (missed cycles : 4). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208493 ms (missed cycles : 4).[0m ×2 + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098876 ms (missed cycles : 2). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098876 ms (missed cycles : 2).[0m ×2 + 19.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 20.29sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685702 ms (missed cycles : 2). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685702 ms (missed cycles : 2).[0m ×2 + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918219 ms (missed cycles : 2). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918219 ms (missed cycles : 2).[0m ×2 + 22.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.330ms + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865539 ms (missed cycles : 3). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865539 ms (missed cycles : 3).[0m ×2 + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 23.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731967 ms (missed cycles : 2). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731967 ms (missed cycles : 2).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 25.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541193 ms (missed cycles : 3). + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541193 ms (missed cycles : 3).[0m ×2 + 25.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772567 ms (missed cycles : 5). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772567 ms (missed cycles : 5).[0m ×2 + 26.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 27.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176700 ms (missed cycles : 3). + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176700 ms (missed cycles : 3).[0m ×2 + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982050 ms (missed cycles : 3). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982050 ms (missed cycles : 3).[0m ×2 + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms ×2 + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427115 ms (missed cycles : 3). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427115 ms (missed cycles : 3).[0m ×2 + 30.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222008 ms (missed cycles : 4). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222008 ms (missed cycles : 4).[0m ×2 + 30.83sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 30.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3). + 31.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5).[0m ×2 + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2).[0m ×2 + 34.55sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788525998.41647387 seconds ×3 + 34.61sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.78) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.61sWARNlocal_costmap.local_costmapSensor origin at (-4.52, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3).[0m ×2 + 34.71sWARNlocal_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 + 34.71sWARNlocal_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 + 35.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.15sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788525999.01666451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.292ms + 35.57sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2).[0m ×2 + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2).[0m ×2 + 37.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4). + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.2s	108 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445883 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445883 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832949 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832949 ms (missed cycles : 3).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037912 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037912 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942302 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942302 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.24sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788526190.44714260 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.78sWARNlocal_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. ×6 + 3.78sWARNlocal_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. ×6 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.80sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788526191.03257990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610171 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610171 ms (missed cycles : 3).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.145ms + 4.55sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416417 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416417 ms (missed cycles : 3).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266437 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266437 ms (missed cycles : 3).[0m ×2 + 7.17sWARNros2_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 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657410 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657410 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817966 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817966 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225591 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225591 ms (missed cycles : 2).[0m ×2 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 10.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 10.40sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.45sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 10.56sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100263 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100263 ms (missed cycles : 3).[0m ×2 + 10.61sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.91sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 11.23sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.33sINFOobjective_server_nodeFound path in 33 iterations (0.0393955 s). ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.606708 ms (missed cycles : 4). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.606708 ms (missed cycles : 4).[0m ×2 + 11.83sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 12.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.56sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039504 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039504 ms (missed cycles : 2).[0m ×2 + 13.17sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.42sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144123 ms (missed cycles : 2). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144123 ms (missed cycles : 2).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418378 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418378 ms (missed cycles : 3).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.396ms + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208465 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208465 ms (missed cycles : 3).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.322ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408322 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408322 ms (missed cycles : 3).[0m ×2 + 17.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 17.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.088ms + 18.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194609 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194609 ms (missed cycles : 2).[0m ×2 + 19.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.174ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735774 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735774 ms (missed cycles : 2).[0m ×2 + 19.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788526206.60611844 seconds ×3 + 19.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526207.21756959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.03sINFOmove_groupClearing octomap...[0m ×2 + 20.03sINFOmove_groupOctomap cleared.[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687821 ms (missed cycles : 3). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687821 ms (missed cycles : 3).[0m ×2 + 20.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.931ms + 20.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526207.92769861 seconds ×3 + 21.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.28sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478229 ms (missed cycles : 3). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478229 ms (missed cycles : 3).[0m ×2 + 21.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788526208.50421548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788526209.14434075 seconds ×3 + 22.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458915 ms (missed cycles : 3). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458915 ms (missed cycles : 3).[0m ×2 + 22.87sWARNros2_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
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.1s	93 errors · 38 warnings · 504 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194609 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194609 ms (missed cycles : 2).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.174ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735774 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735774 ms (missed cycles : 2).[0m ×2 + 1.36sINFOjoint_trajectory_controllerGoal reached, success! + 1.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.37sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788526206.60611844 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.91sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.91sINFOobjective_server_nodecaller: ×4 + 1.91sINFOobjective_server_nodetype: 0 ×4 + 1.91sINFOobjective_server_nodename: "" ×4 + 1.91sINFOobjective_server_nodeinstance_id: "" ×4 + 1.91sINFOobjective_server_node ×4 + 1.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526207.21756959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.99sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687821 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687821 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.931ms + 2.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526207.92769861 seconds ×3 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478229 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478229 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788526208.50421548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788526209.14434075 seconds ×3 + 4.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458915 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458915 ms (missed cycles : 3).[0m ×2 + 4.83sWARNros2_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 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733537 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733537 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952417 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952417 ms (missed cycles : 4).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288676 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288676 ms (missed cycles : 4).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667834 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667834 ms (missed cycles : 2).[0m ×2 + 8.81sWARNros2_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 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622297 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622297 ms (missed cycles : 3).[0m ×2 + 9.82sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.83sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sERRORweb_video_auth_proxy-38process has died [pid 7797, 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 + 9.83sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.87sERRORweb_bridge_auth_proxy-37process has died [pid 7795, 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 + 9.87sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.88sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 9.89sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 9.90sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 9.91sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 9.92sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.93sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 9.94sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 9.95sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 9.96sINFOvideo_server-36process has finished cleanly [pid 7793] ×2 + 9.97sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 9.98sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 9.99sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.00sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.02sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.02sINFOcontroller_managerShutdown request received.... + 10.02sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.02sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.02sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.02sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.02sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.02sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.02sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.02sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.02sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.02sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.02sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.02sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.02sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.02sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.02sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.02sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.02sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.02sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.02sINFOcontroller_managerShutting down the controller manager. + 10.03sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.04sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.05sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.06sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.07sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.08sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.10sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.11sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.12sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.13sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.13sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.13sINFOmap_serverDeactivating + 10.13sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.13sINFOlifecycle_manager_localization[34m[1mHave not received a heartbeat from map_server.[0m[0m + 10.13sERRORlifecycle_manager_localizationCRITICAL FAILURE: SERVER map_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.13sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.13sINFOlifecycle_manager_localization[34m[1mResetting managed nodes...[0m[0m + 10.13sINFOlifecycle_manager_localization[34m[1mDeactivating amcl[0m[0m + 10.13sINFOamclDeactivating + 10.14sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.14sINFOmap_serverCleaning up + 10.14sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.14sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.14sINFOcontroller_serverDeactivating + 10.14sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7792] ×2 + 10.14sINFOlocal_costmap.local_costmapDeactivating + 10.14sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.14sINFOvideo_server2026/09/04 12:50:15 INF shutting down gracefully ×2 + 10.14sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.14sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.14sINFOvideo_server2026/09/04 12:50:15 INF [WebRTC] closing ×2 + 10.14sINFOvideo_server2026/09/04 12:50:15 INF [RTSP] closing ×2 + 10.14sINFOvideo_server2026/09/04 12:50:15 INF waiting for running hooks ×2 + 10.14sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 10.15sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.15sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.15sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.15sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.15sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.15sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.15sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.15sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.15sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.15sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.15sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.15sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.15sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.15sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.15sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.15sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.15sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.15sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.15sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.15sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.15sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.15sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.15sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.15sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.15sINFOmove_groupDeleting MoveItCpp[0m ×2 + 10.15sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.15sINFOmove_groupStopping world geometry monitor[0m ×2 + 10.15sINFOmove_groupStopping planning scene monitor[0m ×2 + 10.15sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.15sINFOodom_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 + 10.15sINFOodom_qos_relay.pymain() ×2 + 10.15sINFOodom_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 + 10.15sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.15sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.15sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.15sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.15sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.15sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.15sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.15sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.15sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.16sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 10.16sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.20sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7785] ×2 + 10.20sINFOcomponent_container_mt-31process has finished cleanly [pid 7788] ×2 + 10.21sINFOui_teleop_bridge-33process has finished cleanly [pid 7790] ×2 + 10.21sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7784] ×2 + 10.23sINFOwaypoint_manager_node-26process has finished cleanly [pid 7783] ×2 + 10.23sINFOparameter_manager_node-25process has finished cleanly [pid 7782] ×2 + 10.24sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.24sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.24sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.25sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.25sINFOcontroller_serverCleaning up + 10.25sINFOlocal_costmap.local_costmapCleaning up + 10.25sINFOexecute_objective_bridge-32process has finished cleanly [pid 7789] ×2 + 10.26sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7717] ×2 + 10.27sINFOobjective_server_node[2026-09-04 12:50:15.499] [moveit_pro_license] [critical] ×2 + 10.27sINFOobjective_server_node************************************************* ×4 + 10.27sINFOobjective_server_node* MoveIt Pro License ×2 + 10.27sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 10.27sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7716] ×2 + 10.28sINFOstatic_transform_publisher-9process has finished cleanly [pid 7631] ×2 + 10.29sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.29sINFOsmoother_serverDeactivating + 10.29sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.29sINFOstatic_transform_publisher-8process has finished cleanly [pid 7630] ×2 + 10.30sINFOsmoother_serverCleaning up + 10.30sINFOcomponent_container_mt-30process has finished cleanly [pid 7787] ×2 + 10.30sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 10.30sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 10.30sINFOlidar_flattener.pymain() ×2 + 10.30sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 10.30sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 10.30sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.30sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 10.30sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.30sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 10.30sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.30sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.30sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.30sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.30sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 10.30sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.30sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.30sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 10.31sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 10.32sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.32sINFOplanner_serverDeactivating + 10.32sINFOglobal_costmap.global_costmapDeactivating + 10.32sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.32sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.32sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.32sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.32sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.32sINFOvelocity_smootherDeactivating + 10.32sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.35sINFOmove_group-24process has finished cleanly [pid 7732] ×2 + 10.35sINFOstatic_transform_publisher-4process has finished cleanly [pid 7626] ×2 + 10.35sINFOlifecycle_manager_localization[34m[1mDeactivating map_server[0m[0m + 10.35sERRORmap_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.35sERRORlifecycle_manager_localizationFailed to change state for node: map_server + 10.35sINFOlifecycle_manager_localization[34m[1mCleaning up amcl[0m[0m + 10.35sINFOlifecycle_manager_localization[34m[1mCleaning up map_server[0m[0m + 10.35sERRORmap_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.35sINFOlifecycle_manager_localization[34m[1mManaged nodes have been reset[0m[0m + 10.36sINFOstatic_transform_publisher-3process has finished cleanly [pid 7625] ×2 + 10.37sINFOobjective_server_node_main-29process has finished cleanly [pid 7786] ×2 + 10.37sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 10.37sERRORlidar_flattener.py-7process has died [pid 7629, 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_slpc5_eo']. ×2 + 10.40sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7628] ×2 + 10.40sERRORodom_qos_relay.py-5process has died [pid 7627, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 10.44sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.44sINFOwaypoint_followerDeactivating + 10.44sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.55sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.55sINFObt_navigatorDeactivating + 10.55sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.66sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.66sINFObehavior_serverDeactivating + 10.66sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.75sERRORcomponent_container_isolated-2process has died [pid 7624, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params__0zijl5o --params-file /tmp/launch_params_oyxm6ai_ -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.77sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.77sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.77sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 10.77sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.78sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.78sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.78sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.78sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.78sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.78sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.78sINFOvelocity_smootherCleaning up + 10.78sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.78sINFOwaypoint_followerCleaning up + 10.81sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.81sINFObt_navigatorCleaning up + 10.90sINFOros2_control_node-12process has finished cleanly [pid 7718] ×2 + 10.98sINFObt_navigatorCompleted Cleaning up + 10.98sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.98sINFObehavior_serverCleaning up + 11.04sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.04sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.04sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.04sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.05sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.05sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.06sINFOplanner_serverCleaning up + 11.08sINFOglobal_costmap.global_costmapCleaning up + 11.08sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.08sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.11sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.11sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.11sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.11sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.11sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.44sERRORcomponent_container_isolated-1process has died [pid 7623, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params__0zijl5o --params-file /tmp/launch_params_jvqmgwzc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.68sINFOweb_bridge-34process has finished cleanly [pid 7791] ×2 + 12.68sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 92 warnings · 154 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056481 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056481 ms (missed cycles : 5).[0m ×2 + 0.19sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179902 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179902 ms (missed cycles : 2).[0m ×2 + 1.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240006 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240006 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788526050.62681460 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.70sWARNlocal_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 + 2.70sWARNlocal_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 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.84sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788526051.20691347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829300 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829300 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.627ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036248 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036248 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543353 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543353 ms (missed cycles : 5).[0m ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.59sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695922 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695922 ms (missed cycles : 3).[0m ×2 + 6.70sWARNros2_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 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015635 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015635 ms (missed cycles : 2).[0m ×2 + 7.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.479ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950556 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950556 ms (missed cycles : 2).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.914ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172304 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172304 ms (missed cycles : 2).[0m ×2 + 9.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.169ms + 10.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.968ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514040 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514040 ms (missed cycles : 3).[0m ×2 + 10.84sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.511ms + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.928ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706850 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706850 ms (missed cycles : 3).[0m ×2 + 12.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.120ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.107ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205433 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205433 ms (missed cycles : 3).[0m ×2 + 13.23sINFOobjective_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 + 13.23sINFOjoint_trajectory_controllerGot request to cancel goal + 13.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.23sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.23sERRORobjective_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: 1788526061.60139632 seconds ×3 + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.335ms + 13.30sWARNlocal_costmap.local_costmapSensor origin at (-0.54, 2.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.30sWARNlocal_costmap.local_costmapSensor origin at (-1.44, 2.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788526062.17991066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.656ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440357 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440357 ms (missed cycles : 3).[0m ×2 + 14.25sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568147 ms (missed cycles : 3). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568147 ms (missed cycles : 3).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184516 ms (missed cycles : 4). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184516 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	72 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3).[0m ×2 + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788525959.45093179 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sWARNlocal_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. ×6 + 3.57sWARNlocal_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. ×6 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788525960.03492403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.903ms + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4).[0m ×2 + 6.90sWARNros2_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 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262948 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262948 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435635 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435635 ms (missed cycles : 3).[0m ×2 + 8.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.52sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788525965.81507134 seconds ×3 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137512 ms (missed cycles : 3). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137512 ms (missed cycles : 3).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620934 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620934 ms (missed cycles : 3).[0m ×2 + 11.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.06sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.09sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788525967.38633823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.48sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902173 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902173 ms (missed cycles : 2).[0m ×2 + 11.98sWARNros2_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 + 12.77sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594862 ms (missed cycles : 4). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594862 ms (missed cycles : 4).[0m ×2 + 13.66sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590386 ms (missed cycles : 4). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590386 ms (missed cycles : 4).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	61 warnings · 138 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465883 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465883 ms (missed cycles : 4).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394874 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394874 ms (missed cycles : 2).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297846 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297846 ms (missed cycles : 4).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788526126.76015115 seconds ×3 + 3.00sINFOcontroller_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 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761435 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761435 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788526127.33844876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.600ms + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066614 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066614 ms (missed cycles : 2).[0m ×2 + 5.36sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777735 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777735 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2 + 7.11sWARNros2_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 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3).[0m ×2 + 9.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788526133.24858499 seconds ×3 + 10.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.03sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2).[0m ×2 + 10.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788526133.82701635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 10.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5).[0m ×2 + 12.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 12.65sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	48 warnings · 144 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304392 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304392 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932143 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291127 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291127 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.36sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788525896.10414481 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788525896.69131970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040396 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040396 ms (missed cycles : 5).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.334ms + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.1046e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.18sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.18sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886515 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886515 ms (missed cycles : 2).[0m ×2 + 5.11sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179409 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179409 ms (missed cycles : 2).[0m ×2 + 6.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656549 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656549 ms (missed cycles : 3).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251840 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251840 ms (missed cycles : 2).[0m ×2 + 7.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 8.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941786 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941786 ms (missed cycles : 3).[0m ×2 + 8.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788525902.24144983 seconds ×3 + 9.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788525902.82079625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.16sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 3.382ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384127 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384127 ms (missed cycles : 4).[0m ×2 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423489 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423489 ms (missed cycles : 2).[0m ×2 + 11.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441478 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441478 ms (missed cycles : 3).[0m ×2 + 11.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	29 warnings · 119 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.322ms + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408322 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408322 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.088ms + 1.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194609 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194609 ms (missed cycles : 2).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.174ms + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735774 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735774 ms (missed cycles : 2).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788526206.60611844 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526207.21756959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.73sINFOmove_groupClearing octomap...[0m ×2 + 3.73sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687821 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687821 ms (missed cycles : 3).[0m ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.931ms + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526207.92769861 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478229 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478229 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788526208.50421548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788526209.14434075 seconds ×3 + 5.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458915 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458915 ms (missed cycles : 3).[0m ×2 + 6.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733537 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733537 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3).[0m ×2 + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788525959.45093179 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sWARNlocal_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. ×6 + 3.57sWARNlocal_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. ×6 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788525960.03492403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.903ms + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4).[0m ×2 + 6.90sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788526133.24858499 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788526133.82701635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.86sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5).[0m ×2 + 5.65sWARNros2_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 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	22 warnings · 307 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.54sINFOobjective_server_nodecaller: ×10 + 0.54sINFOobjective_server_nodetype: 0 ×10 + 0.54sINFOobjective_server_nodename: "" ×10 + 0.54sINFOobjective_server_nodeinstance_id: "" ×10 + 0.54sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.58sINFOmove_groupClearing octomap...[0m ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 1.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 1.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 2.10sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_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 + 2.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 2.68sWARNros2_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 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304392 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304392 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932143 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291127 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291127 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788525896.10414481 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788525896.69131970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040396 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040396 ms (missed cycles : 5).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.334ms + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.1046e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886515 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886515 ms (missed cycles : 2).[0m ×2 + 5.11sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179409 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179409 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	24 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304392 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304392 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932143 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291127 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291127 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788525896.10414481 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788525896.69131970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040396 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040396 ms (missed cycles : 5).[0m ×2 + 3.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.334ms + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.1046e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886515 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886515 ms (missed cycles : 2).[0m ×2 + 5.11sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179409 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179409 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.52sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 4.09sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	24 warnings · 74 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656549 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656549 ms (missed cycles : 3).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251840 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251840 ms (missed cycles : 2).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941786 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941786 ms (missed cycles : 3).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788525902.24144983 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788525902.82079625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.90sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 3.382ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384127 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384127 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.03sWARNros2_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 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423489 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423489 ms (missed cycles : 2).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441478 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441478 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3).[0m ×2 + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788525959.45093179 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sWARNlocal_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. ×6 + 3.57sWARNlocal_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. ×6 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788525960.03492403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.903ms + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4).[0m ×2 + 6.90sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3).[0m ×2 + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788525959.45093179 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sWARNlocal_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. ×6 + 3.57sWARNlocal_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. ×6 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788525960.03492403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.903ms + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4).[0m ×2 + 6.90sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3).[0m ×2 + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788525959.45093179 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sWARNlocal_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. ×6 + 3.57sWARNlocal_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. ×6 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788525960.03492403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.903ms + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4).[0m ×2 + 6.90sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862669 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625669 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832488 ms (missed cycles : 3).[0m ×2 + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483756 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788525959.45093179 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sWARNlocal_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. ×6 + 3.57sWARNlocal_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. ×6 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788525960.03492403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.903ms + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077684 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275802 ms (missed cycles : 4).[0m ×2 + 6.90sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	39 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5).[0m ×2 + 1.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788525998.41647387 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.78) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.52, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3).[0m ×2 + 3.32sWARNlocal_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 + 3.32sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788525999.01666451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.292ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2).[0m ×2 + 4.91sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	39 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5).[0m ×2 + 1.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788525998.41647387 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.78) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.52, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3).[0m ×2 + 3.32sWARNlocal_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 + 3.32sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788525999.01666451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.292ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2).[0m ×2 + 4.91sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	39 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632166 ms (missed cycles : 3).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262226 ms (missed cycles : 5).[0m ×2 + 1.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579760 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788525998.41647387 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.78) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.52, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543938 ms (missed cycles : 3).[0m ×2 + 3.32sWARNlocal_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 + 3.32sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788525999.01666451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.292ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133609 ms (missed cycles : 2).[0m ×2 + 4.91sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829903 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095166 ms (missed cycles : 4).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.52sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 4.09sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788526133.24858499 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788526133.82701635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.86sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5).[0m ×2 + 5.65sWARNros2_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 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.52sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 4.09sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788526133.24858499 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788526133.82701635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.86sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5).[0m ×2 + 5.65sWARNros2_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 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788526133.24858499 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788526133.82701635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.86sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5).[0m ×2 + 5.65sWARNros2_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 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788526133.24858499 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788526133.82701635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.86sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5).[0m ×2 + 5.65sWARNros2_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 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788526133.24858499 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788526133.82701635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.86sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5).[0m ×2 + 5.65sWARNros2_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 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561038 ms (missed cycles : 2).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398118 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976847 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788526133.24858499 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659069 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788526133.82701635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.86sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433245 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712900 ms (missed cycles : 5).[0m ×2 + 5.65sWARNros2_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 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468113 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	26 warnings · 119 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.322ms + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408322 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408322 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.088ms + 1.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194609 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194609 ms (missed cycles : 2).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.174ms + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735774 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735774 ms (missed cycles : 2).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788526206.60611844 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526207.21756959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.73sINFOmove_groupClearing octomap...[0m ×2 + 3.73sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687821 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687821 ms (missed cycles : 3).[0m ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.931ms + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526207.92769861 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478229 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478229 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788526208.50421548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788526209.14434075 seconds ×3 + 5.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458915 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458915 ms (missed cycles : 3).[0m ×2 + 6.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	28 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.52sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 4.09sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	30 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162109 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162109 ms (missed cycles : 4).[0m ×2 + 0.18sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 2.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.55sINFOobjective_server_nodecaller: ×10 + 3.55sINFOobjective_server_nodetype: 0 ×10 + 3.55sINFOobjective_server_nodename: "" ×10 + 3.55sINFOobjective_server_nodeinstance_id: "" ×10 + 3.55sINFOobjective_server_node ×10 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 4.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 5.12sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 5.70sWARNros2_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 + 6.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 7.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.52sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 4.09sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	27 warnings · 300 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162109 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162109 ms (missed cycles : 4).[0m ×2 + 0.18sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 2.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.55sINFOobjective_server_nodecaller: ×10 + 3.55sINFOobjective_server_nodetype: 0 ×10 + 3.55sINFOobjective_server_nodename: "" ×10 + 3.55sINFOobjective_server_nodeinstance_id: "" ×10 + 3.55sINFOobjective_server_node ×10 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 4.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 5.12sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 5.70sWARNros2_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 + 6.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.52sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 4.09sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.52sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 4.09sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.52sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 4.09sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900169 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.52sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 4.09sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813529 ms (missed cycles : 3).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601115 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525850.47719240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.51sINFOmove_groupClearing octomap...[0m ×2 + 1.51sINFOmove_groupOctomap cleared.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525850.48746681 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287514 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525851.06396532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525851.07409859 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525851.64762211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525851.79823685 seconds ×3 + 3.04sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777696 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525852.39667463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525852.45681143 seconds ×3 + 3.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788525853.02549076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589688 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820138 ms (missed cycles : 2).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737582 ms (missed cycles : 3).[0m ×2