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	19.4s	12 errors · 316 warnings · 1522 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/2026-09-04-13-18-37-767950-07d47adac8f4-7566 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.09sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.10sINFOstatic_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' + 4.10sINFOstatic_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' + 4.10sINFOstatic_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' + 4.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.23sINFOcontroller_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. + 4.27sINFOcontroller_serverCreating controller server + 4.30sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.31sINFOlocal_costmap.local_costmapCreating Costmap + 4.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.33sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.35sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.36sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.36sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.37sINFOsmoother_serverCreating smoother server + 4.39sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.40sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.41sINFOcontroller_managerupdate rate is 600 Hz + 4.41sINFOcontroller_managerOverruns handling is : enabled + 4.41sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.41sWARNcontroller_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. + 4.43sINFOros2_control_node-12process started with pid [7708] ×2 + 4.43sINFOmove_group-24process started with pid [7724] ×2 + 4.43sINFOparameter_manager_node-25process started with pid [7772] ×2 + 4.43sINFOwaypoint_manager_node-26process started with pid [7773] ×2 + 4.43sINFOmove_joint_resampler_node-27process started with pid [7775] ×2 + 4.43sINFOmove_end_effector_resampler_node-28process started with pid [7776] ×2 + 4.43sINFOobjective_server_node_main-29process started with pid [7777] ×2 + 4.43sINFOcomponent_container_mt-30process started with pid [7778] ×2 + 4.43sINFOcomponent_container_mt-31process started with pid [7781] ×2 + 4.43sINFOexecute_objective_bridge-32process started with pid [7782] ×2 + 4.43sINFOui_teleop_bridge-33process started with pid [7783] ×2 + 4.43sINFOweb_bridge-34process started with pid [7784] ×2 + 4.43sINFOtf2_web_republisher_node-35process started with pid [7786] ×2 + 4.43sINFOvideo_server-36process started with pid [7793] ×2 + 4.43sINFOweb_bridge_auth_proxy-37process started with pid [7796] ×2 + 4.43sINFOweb_video_auth_proxy-38process started with pid [7825] ×2 + 4.43sINFOcomponent_container_isolated-1process started with pid [7616] ×2 + 4.43sINFOcomponent_container_isolated-2process started with pid [7617] ×2 + 4.43sINFOstatic_transform_publisher-3process started with pid [7618] ×2 + 4.43sINFOstatic_transform_publisher-4process started with pid [7619] ×2 + 4.43sINFOodom_qos_relay.py-5process started with pid [7620] ×2 + 4.43sINFOforward_stereo_publisher.py-6process started with pid [7621] ×2 + 4.43sINFOlidar_flattener.py-7process started with pid [7622] ×2 + 4.43sINFOstatic_transform_publisher-8process started with pid [7623] ×2 + 4.43sINFOstatic_transform_publisher-9process started with pid [7624] ×2 + 4.43sINFOscan_to_scan_filter_chain-10process started with pid [7706] ×2 + 4.43sINFOscan_to_scan_filter_chain-11process started with pid [7707] ×2 + 4.43sINFOros2-13process started with pid [7709] ×2 + 4.43sINFOros2-14process started with pid [7710] ×2 + 4.43sINFOros2-15process started with pid [7711] ×2 + 4.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.44sINFOros2-16process started with pid [7712] ×2 + 4.44sINFOros2-17process started with pid [7713] ×2 + 4.44sINFOros2-18process started with pid [7714] ×2 + 4.44sINFOros2-19process started with pid [7715] ×2 + 4.44sINFOros2-20process started with pid [7716] ×2 + 4.44sINFOros2-21process started with pid [7719] ×2 + 4.44sINFOros2-22process started with pid [7720] ×2 + 4.44sINFOros2-23process started with pid [7723] ×2 + 4.45sINFOplanner_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. + 4.46sINFOplanner_serverCreating + 4.49sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.49sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.49sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.49sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.49sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.49sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.49sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.49sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.49sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.49sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.49sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.49sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.49sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.49sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.49sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.49sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.49sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.49sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.49sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.53sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.55sINFOglobal_costmap.global_costmapCreating Costmap + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.58sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.58sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.58sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.58sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.60sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.61sINFOmap_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. + 4.61sINFOmap_serverCreating + 4.62sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.65sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.65sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.66sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.67sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.73sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.73sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.73sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.73sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.74sINFOvideo_server2026/09/04 13:18:44 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.74sINFOvideo_server2026/09/04 13:18:44 INF configuration loaded from /tmp/moveit-webrtc-xx8usd5j/mediamtx.yml ×2 + 4.74sINFOvideo_server2026/09/04 13:18:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.74sINFOvideo_server2026/09/04 13:18:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.74sINFOrobot_state_publisherRobot initialized + 4.75sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.76sINFOcontroller_managerReceived robot description from topic. + 4.76sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.76sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.76sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.76sINFOlifecycle_manager_localizationCreating + 4.76sINFObt_navigatorCreating + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.78sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.78sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.79sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.79sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.80sINFOmap_serverConfiguring + 4.81sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.81sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.82sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.83sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.84sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.84sINFOwaypoint_followerCreating + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854760 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854760 ms (missed cycles : 3).[0m ×2 + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.88sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.89sINFOamclConfiguring + 4.89sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.89sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.89sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.89sINFOmap_serverActivating + 4.89sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.89sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.90sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.90sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.92sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.97sINFOlifecycle_manager_navigationCreating + 4.99sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.00sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.00sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.00sINFOamclActivating + 5.00sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.01sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.02sINFOamclSubscribed to map_topic: /map + 5.02sINFOamclSubscribed to scan_topic: /scan_merged + 5.03sINFOamclCreated reinitialize_global_localization service + 5.03sINFOamclCreated request_nomotion_update service + 5.03sINFOamclA new map was received + 5.03sINFOamclInitializing particle filter instance + 5.04sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.04sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.05sINFOcontroller_serverConfiguring controller interface + 5.05sINFOcontroller_servergetting progress checker plugins.. + 5.05sINFOcontroller_servergetting goal checker plugins.. + 5.05sINFOcontroller_serverController frequency set to 20.0000Hz + 5.05sINFOlocal_costmap.local_costmapConfiguring + 5.06sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.07sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.409498 seconds + 5.07sINFOmove_groupLoaded robot model in 0.409498 seconds[0m ×2 + 5.08sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.08sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.08sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.08sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.08sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.10sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.10sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.10sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.13sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.13sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.13sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.13sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.14sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.16sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.17sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.17sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.17sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.17sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.18sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.18sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.19sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.19sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.20sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.21sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.21sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.21sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.21sINFOcontroller_serverOptimizer reset ×2 + 5.23sINFOcontroller_serverController Server has FollowPath controllers available. + 5.23sWARNlaser_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. + 5.23sWARNlaser_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. + 5.23sWARNscan_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 + 5.25sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.25sINFOsmoother_serverConfiguring smoother server + 5.25sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.25sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.31sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.31sINFOplanner_serverConfiguring + 5.31sINFOglobal_costmap.global_costmapConfiguring + 5.33sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.35sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.35sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.35sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.36sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.43sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.43sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.43sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.47sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.47sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.47sINFOplanner_serverPlanner Server has GridBased planners available. + 5.47sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.49sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.49sINFObehavior_serverConfiguring + 5.50sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.51sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.52sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.52sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.53sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.53sINFObehavior_serverConfiguring spin + 5.55sINFObehavior_serverConfiguring backup + 5.55sINFObehavior_serverConfiguring drive_on_heading + 5.56sINFObehavior_serverConfiguring assisted_teleop + 5.57sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.57sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.57sINFObehavior_serverConfiguring wait + 5.58sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.58sINFObt_navigatorConfiguring + 5.59sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.59sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 5.71sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.71sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.76sINFOamclParticle filter initialization completed + 5.76sINFOamclInitializing particles from estimated pose and covariance + 5.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.77sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.77sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.78sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.84sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 5.86sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.92sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 5.92sINFOwaypoint_followerConfiguring + 5.96sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 5.96sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 5.96sINFOvelocity_smootherConfiguring velocity smoother + 5.98sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 5.98sINFOcontroller_serverActivating + 5.98sINFOlocal_costmap.local_costmapActivating + 5.98sINFOlocal_costmap.local_costmapChecking transform + 5.98sINFOlocal_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. ×9 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 6.09sINFOmove_group[2026-09-04 13:18:45.436] [moveit_pro_license] [info] ×2 + 6.09sINFOmove_group************************************************* ×4 + 6.09sINFOmove_group* MoveIt Pro License ×2 + 6.09sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.29sINFOwaypoint_manager_nodeLoaded robot model in 0.290459 seconds[0m ×2 + 6.29sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.29sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.32sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.32sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.33sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.35sINFOros2_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 + 6.35sINFOros2_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 + 6.45sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.45sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.45sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.45sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.45sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.46sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.46sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.46sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.46sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.46sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.46sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.46sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.46sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.46sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.47sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.47sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.47sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.47sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.47sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.47sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.47sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.47sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_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 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_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 + 6.97sINFOwaypoint_manager_node[2026-09-04 13:18:46.321] [moveit_pro_license] [info] ×2 + 6.97sINFOwaypoint_manager_node************************************************* ×4 + 6.97sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.97sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.24sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.24sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.24sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.24sWARNros2_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 + 7.24sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.24sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.24sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.24sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.24sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.24sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.24sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.24sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.24sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.24sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.24sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.24sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.24sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.24sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.24sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.24sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.24sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.24sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.24sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.24sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.24sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.24sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.24sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.24sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.24sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.24sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.24sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.24sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.24sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.24sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.24sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.31sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.31sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.32sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.33sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.33sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 7.33sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.33sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 7.45sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 7.45sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 7.52sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 7.52sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 7.52sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 7.52sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 7.53sINFOros2_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 + 7.53sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.53sWARNros2_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 + 7.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.69sINFOobjective_server_node[2026-09-04 13:18:47.038] [moveit_pro_license] [info] ×2 + 7.69sINFOobjective_server_node************************************************* ×4 + 7.69sINFOobjective_server_node* MoveIt Pro License ×2 + 7.69sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836692 ms (missed cycles : 4). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836692 ms (missed cycles : 4).[0m ×2 + 7.76sINFOobjective_server_nodeLoaded robot model in 0.0241721 seconds[0m ×2 + 7.76sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.76sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.86sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.89sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.89sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.89sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.89sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.89sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.90sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.90sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.90sINFOstreaming_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) + 7.90sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.90sINFOcomponent_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 + 7.90sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.93sINFOros2_control_node[2026-09-04 13:18:47.277] [info] Controller state will be published at 20 Hz. ×2 + 7.93sINFOros2_control_node[2026-09-04 13:18:47.279] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.11sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.11sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.11sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.11sWARNcomponent_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 + 8.13sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.13sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.17sWARNobjective_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. + 8.17sWARNobjective_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 + 8.17sWARNobjective_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. + 8.17sWARNobjective_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. + 8.17sWARNobjective_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 + 8.17sWARNobjective_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. + 8.17sWARNobjective_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. + 8.17sWARNobjective_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. + 8.17sWARNobjective_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 + 8.17sWARNobjective_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 + 8.17sWARNobjective_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 + 8.17sWARNobjective_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. + 8.17sWARNobjective_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 + 8.17sWARNobjective_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 + 8.17sWARNobjective_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. + 8.17sWARNobjective_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 + 8.17sWARNobjective_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. + 8.17sWARNobjective_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. + 8.17sWARNobjective_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 + 8.17sWARNobjective_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 + 8.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.25sINFOmove_groupMoveGroup debug mode is ON + 8.25sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.25sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.25sINFOobjective_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 + 8.25sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.27sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.27sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.27sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.27sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.27sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.27sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.27sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.28sINFOros2-23process has finished cleanly [pid 7723] ×2 + 8.29sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.29sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.29sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.30sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.30sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.30sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.30sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 8.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 8.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.36sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.36sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.36sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.36sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.40sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 8.40sINFOmove_group ×8 + 8.40sINFOmove_group****************************************************** ×4 + 8.40sINFOmove_group* MoveGroup using: ×2 + 8.40sINFOmove_group* - apply_planning_scene_service ×2 + 8.40sINFOmove_group* - clear_octomap_service ×2 + 8.40sINFOmove_group* - get_group_urdf ×2 + 8.40sINFOmove_group* - load_geometry_from_file ×2 + 8.40sINFOmove_group* - get_planning_scene_service ×2 + 8.40sINFOmove_group* - kinematics_service ×2 + 8.40sINFOmove_group* - save_geometry_to_file ×2 + 8.40sINFOmove_group* - GetPlanningGroups ×2 + 8.40sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.40sINFOmove_group[0m ×2 + 8.40sINFOmove_group[92mYou can start planning now![0m ×2 + 8.52sINFOcomponent_container_mtLoaded robot model in 0.410673 seconds[0m ×2 + 8.52sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.52sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.58sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.58sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.71sWARNobjective_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 + 8.79sINFOros2_control_node[2026-09-04 13:18:48.140] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.79sINFOros2_control_node[2026-09-04 13:18:48.142] [info] Controller state will be published at 10 Hz. ×2 + 8.80sINFOros2_control_node[2026-09-04 13:18:48.143] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648024 ms (missed cycles : 3). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648024 ms (missed cycles : 3).[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.92sWARNcomponent_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 + 9.09sINFOcomponent_container_mt[2026-09-04 13:18:48.438] [moveit_pro_license] [info] ×2 + 9.09sINFOcomponent_container_mt************************************************* ×4 + 9.09sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.09sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.09sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.09sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 9.09sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 9.09sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.09sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 9.09sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 9.13sINFOros2-20process has finished cleanly [pid 7716] ×2 + 9.16sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 9.16sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 9.16sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 9.16sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.28sWARNros2_control_nodeCamera render tick took 0.92 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.31sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.31sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.31sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.31sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.44sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.44sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.50sINFOros2_control_node[2026-09-04 13:18:48.845] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.50sINFOros2_control_node[2026-09-04 13:18:48.847] [info] Controller state will be published at 10 Hz. ×2 + 9.50sINFOros2_control_node[2026-09-04 13:18:48.849] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.80sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 9.80sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 9.84sINFOros2-21process has finished cleanly [pid 7719] ×2 + 9.89sWARNros2_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 + 9.90sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 9.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 9.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 9.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 9.90sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 9.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 9.90sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 9.90sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 9.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 9.90sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 9.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 9.90sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 9.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 9.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 9.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046398 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046398 ms (missed cycles : 2).[0m ×2 + 10.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.18sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 10.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 10.21sINFOros2-19process has finished cleanly [pid 7715] ×2 + 10.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.23sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.23sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.26sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.26sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.26sINFOcontroller_managerSuccessfully switched controllers! ×20 + 10.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 10.26sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.26sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.33sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788527927.708 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.48sINFOlocal_costmap.local_costmapstart + 10.58sWARNcontroller_serverParameter controller_server.verbose not found + 10.58sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.59sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 10.59sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 10.61sINFOros2-15process has finished cleanly [pid 7711] ×2 + 10.65sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.65sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.66sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.66sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.69sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.69sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.69sINFOsmoother_serverActivating + 10.69sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.79sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.79sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.79sINFOplanner_serverActivating + 10.79sINFOglobal_costmap.global_costmapActivating + 10.79sINFOglobal_costmap.global_costmapChecking transform + 10.79sINFOglobal_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. + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728566 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728566 ms (missed cycles : 3).[0m ×2 + 11.04sINFOros2_control_node[2026-09-04 13:18:50.390] [info] Controller state will be published at 20 Hz. ×2 + 11.04sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 5.449ms + 11.04sINFOros2_control_node[2026-09-04 13:18:50.391] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.29sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788527930.626961, but only time 1788527930.775348 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.36sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 11.36sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 11.38sINFOros2-22process has finished cleanly [pid 7720] ×2 + 11.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.42sINFOplatform_velocity_controller_nav2configure successful + 11.42sINFOros2_control_nodeconfigure successful[0m ×6 + 11.75sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.75sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.75sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.75sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.75sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 11.75sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 11.77sINFOros2-18process has finished cleanly [pid 7714] ×2 + 11.79sINFOglobal_costmap.global_costmapstart + 11.80sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.80sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.81sINFOplatform_velocity_controllerconfigure successful + 11.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.82sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.82sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704021 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704021 ms (missed cycles : 2).[0m ×2 + 12.11sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.11sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.11sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.11sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.12sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 12.12sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 12.15sINFOros2-16process has finished cleanly [pid 7712] ×2 + 12.16sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.16sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.16sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.16sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.17sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.17sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.17sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.17sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.52sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 12.52sINFOcontroller_managerLoading controller 'vacuum_gripper' + 12.52sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 12.52sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 12.53sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 12.53sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 12.55sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 12.55sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 12.56sINFOros2-14process has finished cleanly [pid 7710] ×2 + 12.59sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 12.59sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 12.59sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 12.59sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 12.59sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 12.59sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 12.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 12.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 12.61sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 12.61sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 12.84sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.85sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 12.92sINFOros2-17process has finished cleanly [pid 7713] ×2 + 12.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.93sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.93sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.94sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.94sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 + 12.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w201p02m --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_qs5qe6kb --params-file /tmp/launch_params_k1lht5n8 [0m ×2 + 12.95sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.95sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.95sINFObehavior_serverActivating + 12.95sINFObehavior_serverActivating spin + 12.95sINFObehavior_serverActivating backup + 12.95sINFObehavior_serverActivating drive_on_heading + 12.95sINFObehavior_serverActivating assisted_teleop + 12.95sINFObehavior_serverActivating wait + 12.95sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.98sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.98sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.99sINFOforce_torque_sensor_broadcasterconfigure successful + 13.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.00sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.06sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.06sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.06sINFObt_navigatorActivating + 13.12sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223951 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223951 ms (missed cycles : 2).[0m ×2 + 13.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.22sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.22sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.22sINFOwaypoint_followerActivating + 13.22sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.33sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.33sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.33sINFOvelocity_smootherActivating + 13.33sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.33sINFOros2-13process has finished cleanly [pid 7709] ×2 + 13.43sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.43sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.43sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838830 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838830 ms (missed cycles : 2).[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964774 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964774 ms (missed cycles : 2).[0m ×2 + 15.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 15.80sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 17.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 18.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.34sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.34sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.34sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.34sINFOobjective_server_nodecaller: ×10 + 18.34sINFOobjective_server_nodetype: 0 ×10 + 18.34sINFOobjective_server_nodename: "" ×10 + 18.34sINFOobjective_server_nodeinstance_id: "" ×10 + 18.34sINFOobjective_server_node ×10 + 18.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.37sINFOmove_groupClearing octomap...[0m ×2 + 18.37sINFOmove_groupOctomap cleared.[0m ×2 + 18.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 18.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 18.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 19.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 20.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.28sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 20.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 20.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.86sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 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	64.8s	3 errors · 289 warnings · 255 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855721 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855721 ms (missed cycles : 2).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.562ms + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.969ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846359 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846359 ms (missed cycles : 2).[0m ×2 + 1.69sWARNros2_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 + 1.71sINFOamclParticle filter update iteration stats: 3451 particles 723 points - 7.180ms + 2.28sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 4.006ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973160 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973160 ms (missed cycles : 3).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.183ms + 2.90sINFOobjective_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 + 2.90sINFOjoint_trajectory_controllerGot request to cancel goal + 2.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788528149.14009476 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.35sWARNros2_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 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788528149.71150446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315077 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315077 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.261ms + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244291 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244291 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870233 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870233 ms (missed cycles : 2).[0m ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791075 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791075 ms (missed cycles : 3).[0m ×2 + 6.88sWARNros2_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 ×6 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703088 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703088 ms (missed cycles : 2).[0m ×2 + 8.47sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.494ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349844 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349844 ms (missed cycles : 3).[0m ×2 + 9.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.757ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746204 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746204 ms (missed cycles : 2).[0m ×2 + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.747ms + 10.74sINFOamclParticle filter update iteration stats: 4114 particles 723 points - 7.315ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586541 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586541 ms (missed cycles : 2).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 5.927ms + 11.86sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 3.901ms + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963010 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963010 ms (missed cycles : 2).[0m ×2 + 12.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 12.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211927 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211927 ms (missed cycles : 2).[0m ×2 + 13.51sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×10 + 13.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882570 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882570 ms (missed cycles : 3).[0m ×2 + 14.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765325 ms (missed cycles : 3). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765325 ms (missed cycles : 3).[0m ×2 + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182071 ms (missed cycles : 3). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182071 ms (missed cycles : 3).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 17.59sWARNros2_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 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704428 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704428 ms (missed cycles : 2).[0m ×2 + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082718 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082718 ms (missed cycles : 2).[0m ×2 + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670822 ms (missed cycles : 2). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670822 ms (missed cycles : 2).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686542 ms (missed cycles : 2). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686542 ms (missed cycles : 2).[0m ×2 + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638227 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638227 ms (missed cycles : 2).[0m ×2 + 22.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 22.94sWARNros2_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 + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104331 ms (missed cycles : 3). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104331 ms (missed cycles : 3).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282970 ms (missed cycles : 5). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282970 ms (missed cycles : 5).[0m ×2 + 24.10sWARNros2_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 + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036731 ms (missed cycles : 5). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036731 ms (missed cycles : 5).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408771 ms (missed cycles : 2). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408771 ms (missed cycles : 2).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046109 ms (missed cycles : 3). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046109 ms (missed cycles : 3).[0m ×2 + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 28.17sWARNros2_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 ×6 + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3).[0m ×2 + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 29.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 29.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.250ms + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448731 ms (missed cycles : 3). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448731 ms (missed cycles : 3).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.267ms + 30.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933874 ms (missed cycles : 2). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933874 ms (missed cycles : 2).[0m ×2 + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.186ms + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061294 ms (missed cycles : 3). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061294 ms (missed cycles : 3).[0m ×2 + 32.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083420 ms (missed cycles : 2). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083420 ms (missed cycles : 2).[0m ×2 + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397954 ms (missed cycles : 3). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397954 ms (missed cycles : 3).[0m ×2 + 34.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 34.68sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.68sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835308 ms (missed cycles : 4). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835308 ms (missed cycles : 4).[0m ×2 + 34.91sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.76sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051885 ms (missed cycles : 4). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051885 ms (missed cycles : 4).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327188 ms (missed cycles : 2). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327188 ms (missed cycles : 2).[0m ×2 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730585 ms (missed cycles : 5). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730585 ms (missed cycles : 5).[0m ×2 + 38.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 39.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554504 ms (missed cycles : 4). + 39.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554504 ms (missed cycles : 4).[0m ×2 + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 39.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327232 ms (missed cycles : 3). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327232 ms (missed cycles : 3).[0m ×2 + 40.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 41.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020112 ms (missed cycles : 3). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020112 ms (missed cycles : 3).[0m ×2 + 41.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897865 ms (missed cycles : 3). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897865 ms (missed cycles : 3).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860091 ms (missed cycles : 3). + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860091 ms (missed cycles : 3).[0m ×2 + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681077 ms (missed cycles : 3). + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681077 ms (missed cycles : 3).[0m ×2 + 44.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 45.22sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 45.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426132 ms (missed cycles : 3). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426132 ms (missed cycles : 3).[0m ×2 + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439713 ms (missed cycles : 4). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439713 ms (missed cycles : 4).[0m ×2 + 47.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.361ms + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030354 ms (missed cycles : 2). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030354 ms (missed cycles : 2).[0m ×2 + 48.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.981ms + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282992 ms (missed cycles : 2). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282992 ms (missed cycles : 2).[0m ×2 + 49.52sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 49.53sWARNros2_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 ×4 + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427784 ms (missed cycles : 4). + 49.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427784 ms (missed cycles : 4).[0m ×2 + 50.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002221 ms (missed cycles : 3). + 50.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002221 ms (missed cycles : 3).[0m ×2 + 51.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 51.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304595 ms (missed cycles : 4). + 51.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304595 ms (missed cycles : 4).[0m ×2 + 52.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881949 ms (missed cycles : 3). + 52.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881949 ms (missed cycles : 3).[0m ×2 + 53.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 54.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832467 ms (missed cycles : 4). + 54.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832467 ms (missed cycles : 4).[0m ×2 + 54.94sWARNros2_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 + 54.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 55.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687221 ms (missed cycles : 3). + 55.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687221 ms (missed cycles : 3).[0m ×2 + 55.98sWARNros2_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 + 56.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 56.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862061 ms (missed cycles : 2). + 56.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862061 ms (missed cycles : 2).[0m ×2 + 57.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821462 ms (missed cycles : 2). + 57.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821462 ms (missed cycles : 2).[0m ×2 + 57.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448099 ms (missed cycles : 2). + 58.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448099 ms (missed cycles : 2).[0m ×2 + 58.46sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 59.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427440 ms (missed cycles : 3). + 59.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427440 ms (missed cycles : 3).[0m ×2 + 60.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996826 ms (missed cycles : 3). + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996826 ms (missed cycles : 3).[0m ×2 + 61.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303851 ms (missed cycles : 4). + 61.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303851 ms (missed cycles : 4).[0m ×2 + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199704 ms (missed cycles : 4). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199704 ms (missed cycles : 4).[0m ×2 + 63.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260527 ms (missed cycles : 5). + 63.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260527 ms (missed cycles : 5).[0m ×2 + 63.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 64.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698080 ms (missed cycles : 2). + 64.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698080 ms (missed cycles : 2).[0m ×2 + 65.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 66.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576575 ms (missed cycles : 3). + 66.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576575 ms (missed cycles : 3).[0m ×2 + 66.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 67.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438538 ms (missed cycles : 3). + 67.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438538 ms (missed cycles : 3).[0m ×2 + 67.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 67.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788528213.97168136 seconds ×3 + 67.81sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 67.81sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.01sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.01sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006587 ms (missed cycles : 3). + 68.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006587 ms (missed cycles : 3).[0m ×2 + 68.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.30sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788528214.54969358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.328ms + 69.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412937 ms (missed cycles : 4). + 69.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412937 ms (missed cycles : 4).[0m ×2 + 70.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136772 ms (missed cycles : 2). + 70.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136772 ms (missed cycles : 2).[0m ×2 + 70.82sWARNros2_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 + 71.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3). + 71.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.2s	238 warnings · 200 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.75sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788528220.42982221 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788528221.00609779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.92sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.94sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157251 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157251 ms (missed cycles : 2).[0m ×2 + 8.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.439ms + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812312 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812312 ms (missed cycles : 2).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.486ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554946 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554946 ms (missed cycles : 3).[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.964ms + 10.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.436ms + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796530 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796530 ms (missed cycles : 3).[0m ×2 + 10.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.088ms + 11.46sWARNros2_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 + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.332ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885091 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885091 ms (missed cycles : 3).[0m ×2 + 12.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.813ms + 12.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736622 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736622 ms (missed cycles : 3).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.880ms + 13.75sINFOamclParticle filter update iteration stats: 4249 particles 723 points - 8.291ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397378 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397378 ms (missed cycles : 2).[0m ×2 + 14.34sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 8.384ms + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786918 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786918 ms (missed cycles : 2).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 3.652ms + 15.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500751 ms (missed cycles : 5). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500751 ms (missed cycles : 5).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.001ms + 16.67sWARNros2_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 ×8 + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477109 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477109 ms (missed cycles : 3).[0m ×2 + 17.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 17.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462017 ms (missed cycles : 3). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462017 ms (missed cycles : 3).[0m ×2 + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms ×2 + 19.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035729 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035729 ms (missed cycles : 2).[0m ×2 + 19.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852485 ms (missed cycles : 4). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852485 ms (missed cycles : 4).[0m ×2 + 20.90sWARNros2_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 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561885 ms (missed cycles : 3). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561885 ms (missed cycles : 3).[0m ×2 + 21.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138260 ms (missed cycles : 4). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138260 ms (missed cycles : 4).[0m ×2 + 22.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094602 ms (missed cycles : 2). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094602 ms (missed cycles : 2).[0m ×2 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149928 ms (missed cycles : 5). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149928 ms (missed cycles : 5).[0m ×2 + 24.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 25.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921463 ms (missed cycles : 2). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921463 ms (missed cycles : 2).[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 26.31sWARNros2_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 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135127 ms (missed cycles : 3). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135127 ms (missed cycles : 3).[0m ×2 + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041136 ms (missed cycles : 4). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041136 ms (missed cycles : 4).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552414 ms (missed cycles : 5). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552414 ms (missed cycles : 5).[0m ×2 + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 29.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147435 ms (missed cycles : 3). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147435 ms (missed cycles : 3).[0m ×2 + 30.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788269 ms (missed cycles : 3). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788269 ms (missed cycles : 3).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441883 ms (missed cycles : 3). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441883 ms (missed cycles : 3).[0m ×2 + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.573ms + 32.90sWARNros2_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 + 32.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.361ms + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387816 ms (missed cycles : 3). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387816 ms (missed cycles : 3).[0m ×2 + 34.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 34.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913007 ms (missed cycles : 3). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913007 ms (missed cycles : 3).[0m ×2 + 34.34sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962417 ms (missed cycles : 4). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962417 ms (missed cycles : 4).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314622 ms (missed cycles : 4). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314622 ms (missed cycles : 4).[0m ×2 + 37.17sWARNros2_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 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067000 ms (missed cycles : 3). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067000 ms (missed cycles : 3).[0m ×2 + 38.34sWARNros2_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 + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201457 ms (missed cycles : 3). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201457 ms (missed cycles : 3).[0m ×2 + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973235 ms (missed cycles : 2). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973235 ms (missed cycles : 2).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751935 ms (missed cycles : 3). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751935 ms (missed cycles : 3).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701681 ms (missed cycles : 2). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701681 ms (missed cycles : 2).[0m ×2 + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543669 ms (missed cycles : 3). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543669 ms (missed cycles : 3).[0m ×2 + 42.64sWARNros2_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 + 43.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402263 ms (missed cycles : 4). + 43.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402263 ms (missed cycles : 4).[0m ×2 + 43.85sWARNros2_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 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259147 ms (missed cycles : 3). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259147 ms (missed cycles : 3).[0m ×2 + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240081 ms (missed cycles : 3). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240081 ms (missed cycles : 3).[0m ×2 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849332 ms (missed cycles : 4). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849332 ms (missed cycles : 4).[0m ×2 + 48.10sWARNros2_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 + 48.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107420 ms (missed cycles : 2). + 48.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107420 ms (missed cycles : 2).[0m ×2 + 49.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095297 ms (missed cycles : 2). + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095297 ms (missed cycles : 2).[0m ×2 + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176624 ms (missed cycles : 3). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176624 ms (missed cycles : 3).[0m ×2 + 51.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069712 ms (missed cycles : 3). + 51.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069712 ms (missed cycles : 3).[0m ×2 + 52.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.896ms + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276761 ms (missed cycles : 4). + 52.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276761 ms (missed cycles : 4).[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851350 ms (missed cycles : 5). + 53.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851350 ms (missed cycles : 5).[0m ×2 + 54.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190232 ms (missed cycles : 3). + 54.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190232 ms (missed cycles : 3).[0m ×2 + 55.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 55.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091772 ms (missed cycles : 4). + 55.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091772 ms (missed cycles : 4).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940155 ms (missed cycles : 2). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940155 ms (missed cycles : 2).[0m ×2 + 57.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291404 ms (missed cycles : 3). + 57.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291404 ms (missed cycles : 3).[0m ×2 + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934020 ms (missed cycles : 5). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934020 ms (missed cycles : 5).[0m ×2 + 59.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917132 ms (missed cycles : 4). + 59.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917132 ms (missed cycles : 4).[0m ×2 + 60.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788528277.64624524 seconds ×3 + 60.09sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.09sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 60.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.55sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788528278.22623515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.034ms + 60.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360579 ms (missed cycles : 3). + 60.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360579 ms (missed cycles : 3).[0m ×2 + 60.97sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 61.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603075 ms (missed cycles : 3). + 61.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603075 ms (missed cycles : 3).[0m ×2 + 63.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968455 ms (missed cycles : 3). + 63.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968455 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	247 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2).[0m ×2 + 0.12sWARNros2_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 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199187 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199187 ms (missed cycles : 4).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959630 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959630 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.63sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788527989.32338524 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sWARNros2_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 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753191 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753191 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.20sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.20sINFOobjective_server_nodecaller: ×4 + 3.20sINFOobjective_server_nodetype: 0 ×4 + 3.20sINFOobjective_server_nodename: "" ×4 + 3.20sINFOobjective_server_nodeinstance_id: "" ×4 + 3.20sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788527989.90029693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 2.465ms + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464407 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464407 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382401 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382401 ms (missed cycles : 2).[0m ×2 + 5.22sWARNros2_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 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.81sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.81sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.81sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.81sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000326 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000326 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945401 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945401 ms (missed cycles : 2).[0m ×2 + 7.95sWARNros2_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 + 7.98sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 3.253ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481773 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481773 ms (missed cycles : 3).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.682ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303164 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303164 ms (missed cycles : 2).[0m ×2 + 9.65sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.184ms + 9.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310864 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310864 ms (missed cycles : 2).[0m ×2 + 10.77sWARNros2_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 + 10.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 11.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443136 ms (missed cycles : 4). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443136 ms (missed cycles : 4).[0m ×2 + 11.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558645 ms (missed cycles : 4). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558645 ms (missed cycles : 4).[0m ×2 + 13.05sWARNros2_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 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 13.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550217 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550217 ms (missed cycles : 2).[0m ×2 + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677656 ms (missed cycles : 3). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677656 ms (missed cycles : 3).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255351 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255351 ms (missed cycles : 2).[0m ×2 + 15.96sWARNros2_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 ×12 + 15.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 16.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063504 ms (missed cycles : 5). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063504 ms (missed cycles : 5).[0m ×2 + 17.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 17.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720810 ms (missed cycles : 4). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720810 ms (missed cycles : 4).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411468 ms (missed cycles : 3). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411468 ms (missed cycles : 3).[0m ×2 + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233528 ms (missed cycles : 3). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233528 ms (missed cycles : 3).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855140 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855140 ms (missed cycles : 2).[0m ×2 + 21.27sWARNros2_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 + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579088 ms (missed cycles : 3). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579088 ms (missed cycles : 3).[0m ×2 + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 23.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240406 ms (missed cycles : 3). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240406 ms (missed cycles : 3).[0m ×2 + 23.65sWARNros2_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 ×8 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 24.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978151 ms (missed cycles : 2). + 24.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978151 ms (missed cycles : 2).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499091 ms (missed cycles : 5). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499091 ms (missed cycles : 5).[0m ×2 + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327696 ms (missed cycles : 2). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327696 ms (missed cycles : 2).[0m ×2 + 26.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 27.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984217 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984217 ms (missed cycles : 2).[0m ×2 + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145278 ms (missed cycles : 4). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145278 ms (missed cycles : 4).[0m ×2 + 29.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 29.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521823 ms (missed cycles : 3). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521823 ms (missed cycles : 3).[0m ×2 + 30.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416936 ms (missed cycles : 3). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416936 ms (missed cycles : 3).[0m ×2 + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 31.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087840 ms (missed cycles : 4). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087840 ms (missed cycles : 4).[0m ×2 + 32.07sWARNros2_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 + 32.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.636ms + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725053 ms (missed cycles : 2). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725053 ms (missed cycles : 2).[0m ×2 + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291600 ms (missed cycles : 2). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291600 ms (missed cycles : 2).[0m ×2 + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 34.23sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726093 ms (missed cycles : 3). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726093 ms (missed cycles : 3).[0m ×2 + 36.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794002 ms (missed cycles : 5). + 36.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794002 ms (missed cycles : 5).[0m ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568630 ms (missed cycles : 2). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568630 ms (missed cycles : 2).[0m ×2 + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183287 ms (missed cycles : 4). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183287 ms (missed cycles : 4).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937611 ms (missed cycles : 2). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937611 ms (missed cycles : 2).[0m ×2 + 39.91sWARNros2_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 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144532 ms (missed cycles : 3). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144532 ms (missed cycles : 3).[0m ×2 + 41.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 41.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037171 ms (missed cycles : 2). + 41.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037171 ms (missed cycles : 2).[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108007 ms (missed cycles : 3). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108007 ms (missed cycles : 3).[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261479 ms (missed cycles : 2). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261479 ms (missed cycles : 2).[0m ×2 + 44.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906674 ms (missed cycles : 2). + 44.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906674 ms (missed cycles : 2).[0m ×2 + 45.37sWARNros2_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 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473645 ms (missed cycles : 3). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473645 ms (missed cycles : 3).[0m ×2 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293303 ms (missed cycles : 2). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293303 ms (missed cycles : 2).[0m ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443172 ms (missed cycles : 3). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443172 ms (missed cycles : 3).[0m ×2 + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678577 ms (missed cycles : 3). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678577 ms (missed cycles : 3).[0m ×2 + 49.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986443 ms (missed cycles : 2). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986443 ms (missed cycles : 2).[0m ×2 + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574952 ms (missed cycles : 2). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574952 ms (missed cycles : 2).[0m ×2 + 51.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869429 ms (missed cycles : 2). + 52.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869429 ms (missed cycles : 2).[0m ×2 + 53.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229875 ms (missed cycles : 5). + 53.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229875 ms (missed cycles : 5).[0m ×2 + 54.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038517 ms (missed cycles : 2). + 54.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038517 ms (missed cycles : 2).[0m ×2 + 55.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 55.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251457 ms (missed cycles : 2). + 55.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251457 ms (missed cycles : 2).[0m ×2 + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4). + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4).[0m ×2 + 57.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3). + 57.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3).[0m ×2 + 59.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5). + 59.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5).[0m ×2 + 59.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 59.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788528046.48042989 seconds ×3 + 59.96sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 59.96sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3).[0m ×2 + 60.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.36sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788528047.06470323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.45sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 3.439ms + 60.46sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 10.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.46sWARNlocal_costmap.local_costmapSensor origin at (-3.37, 10.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.78sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 60.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.116ms + 61.10sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2). + 61.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2).[0m ×2 + 62.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2). + 62.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.6s	237 warnings · 219 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5).[0m ×2 + 0.63sWARNros2_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 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.590ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.80sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788528085.58822513 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sWARNros2_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 ×8 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788528086.16832399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3).[0m ×2 + 5.95sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.14sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.14sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924539 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924539 ms (missed cycles : 2).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481846 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481846 ms (missed cycles : 2).[0m ×2 + 8.12sWARNros2_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 + 8.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.807ms + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905857 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905857 ms (missed cycles : 2).[0m ×2 + 9.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.544ms + 9.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298909 ms (missed cycles : 4). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298909 ms (missed cycles : 4).[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.137ms + 10.96sWARNros2_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 + 10.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.317ms + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629634 ms (missed cycles : 2). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629634 ms (missed cycles : 2).[0m ×2 + 11.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.455ms + 12.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.062ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741516 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741516 ms (missed cycles : 2).[0m ×2 + 12.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.405ms + 13.26sWARNros2_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 + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.279ms + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945102 ms (missed cycles : 3). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945102 ms (missed cycles : 3).[0m ×2 + 13.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.601ms + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037035 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037035 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.168ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597980 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597980 ms (missed cycles : 3).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 4880 particles 723 points - 8.774ms + 16.30sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 7.543ms + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877893 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877893 ms (missed cycles : 2).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 7.695ms + 17.48sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 3.222ms + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716892 ms (missed cycles : 5). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716892 ms (missed cycles : 5).[0m ×2 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 18.64sWARNros2_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 + 18.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862337 ms (missed cycles : 3). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862337 ms (missed cycles : 3).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332390 ms (missed cycles : 2). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332390 ms (missed cycles : 2).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817690 ms (missed cycles : 3). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817690 ms (missed cycles : 3).[0m ×2 + 21.70sWARNros2_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 + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 22.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166098 ms (missed cycles : 2). + 22.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166098 ms (missed cycles : 2).[0m ×2 + 22.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms ×2 + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166278 ms (missed cycles : 6). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166278 ms (missed cycles : 6).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 24.08sWARNros2_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 + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806883 ms (missed cycles : 4). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806883 ms (missed cycles : 4).[0m ×2 + 24.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260235 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260235 ms (missed cycles : 3).[0m ×2 + 25.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.465ms + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016056 ms (missed cycles : 2). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016056 ms (missed cycles : 2).[0m ×2 + 27.12sWARNros2_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 + 27.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 27.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634791 ms (missed cycles : 3). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634791 ms (missed cycles : 3).[0m ×2 + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms ×2 + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603981 ms (missed cycles : 3). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603981 ms (missed cycles : 3).[0m ×2 + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406988 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406988 ms (missed cycles : 2).[0m ×2 + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961358 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961358 ms (missed cycles : 2).[0m ×2 + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.229ms + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885542 ms (missed cycles : 5). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885542 ms (missed cycles : 5).[0m ×2 + 32.54sWARNros2_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 + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.926ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229139 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229139 ms (missed cycles : 2).[0m ×2 + 33.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.041ms + 33.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219029 ms (missed cycles : 3). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219029 ms (missed cycles : 3).[0m ×2 + 34.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312388 ms (missed cycles : 4). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312388 ms (missed cycles : 4).[0m ×2 + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047525 ms (missed cycles : 5). + 36.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047525 ms (missed cycles : 5).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738678 ms (missed cycles : 4). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738678 ms (missed cycles : 4).[0m ×2 + 37.70sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.11sWARNros2_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 + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813914 ms (missed cycles : 4). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813914 ms (missed cycles : 4).[0m ×2 + 38.86sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906119 ms (missed cycles : 2). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906119 ms (missed cycles : 2).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453779 ms (missed cycles : 5). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453779 ms (missed cycles : 5).[0m ×2 + 41.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248874 ms (missed cycles : 4). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248874 ms (missed cycles : 4).[0m ×2 + 41.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375025 ms (missed cycles : 2). + 42.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375025 ms (missed cycles : 2).[0m ×2 + 42.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 43.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 43.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569554 ms (missed cycles : 4). + 43.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569554 ms (missed cycles : 4).[0m ×2 + 43.72sWARNros2_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 + 43.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988124 ms (missed cycles : 3). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988124 ms (missed cycles : 3).[0m ×2 + 44.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828011 ms (missed cycles : 2). + 45.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828011 ms (missed cycles : 2).[0m ×2 + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160998 ms (missed cycles : 2). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160998 ms (missed cycles : 2).[0m ×2 + 47.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826642 ms (missed cycles : 4). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826642 ms (missed cycles : 4).[0m ×2 + 47.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 48.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651393 ms (missed cycles : 4). + 48.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651393 ms (missed cycles : 4).[0m ×2 + 49.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 49.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131923 ms (missed cycles : 2). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131923 ms (missed cycles : 2).[0m ×2 + 50.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 51.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276540 ms (missed cycles : 4). + 51.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276540 ms (missed cycles : 4).[0m ×2 + 51.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045338 ms (missed cycles : 3). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045338 ms (missed cycles : 3).[0m ×2 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148740 ms (missed cycles : 2). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148740 ms (missed cycles : 2).[0m ×2 + 53.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 54.52sWARNros2_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 + 54.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473555 ms (missed cycles : 3). + 54.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473555 ms (missed cycles : 3).[0m ×2 + 55.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 55.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788528138.18848515 seconds ×3 + 55.57sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.57sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.67sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.67sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299645 ms (missed cycles : 2). + 55.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299645 ms (missed cycles : 2).[0m ×2 + 55.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.01sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788528138.76618767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.344ms + 56.39sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 56.76sWARNros2_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 + 56.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588529 ms (missed cycles : 3). + 56.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588529 ms (missed cycles : 3).[0m ×2 + 58.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282440 ms (missed cycles : 2). + 58.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282440 ms (missed cycles : 2).[0m ×2 + 59.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684335 ms (missed cycles : 3). + 59.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684335 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	182 warnings · 382 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.10sINFOobjective_server_nodecaller: ×12 + 1.10sINFOobjective_server_nodetype: 0 ×12 + 1.10sINFOobjective_server_nodename: "" ×12 + 1.10sINFOobjective_server_nodeinstance_id: "" ×12 + 1.10sINFOobjective_server_node ×12 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960748 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960748 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 3.211ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158187 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158187 ms (missed cycles : 3).[0m ×2 + 8.53sWARNros2_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 ×10 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139556 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139556 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957887 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957887 ms (missed cycles : 2).[0m ×2 + 10.75sWARNros2_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 ×6 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485892 ms (missed cycles : 4). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485892 ms (missed cycles : 4).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509927 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509927 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672634 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672634 ms (missed cycles : 3).[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907509 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907509 ms (missed cycles : 2).[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838735 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838735 ms (missed cycles : 3).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496480 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496480 ms (missed cycles : 2).[0m ×2 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040833 ms (missed cycles : 2). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040833 ms (missed cycles : 2).[0m ×2 + 18.54sWARNros2_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 + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927673 ms (missed cycles : 2). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927673 ms (missed cycles : 2).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926184 ms (missed cycles : 4). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926184 ms (missed cycles : 4).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071547 ms (missed cycles : 3). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071547 ms (missed cycles : 3).[0m ×2 + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161659 ms (missed cycles : 2). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161659 ms (missed cycles : 2).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893284 ms (missed cycles : 3). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893284 ms (missed cycles : 3).[0m ×2 + 24.09sWARNros2_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 + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694295 ms (missed cycles : 3). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694295 ms (missed cycles : 3).[0m ×2 + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048586 ms (missed cycles : 2). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048586 ms (missed cycles : 2).[0m ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051771 ms (missed cycles : 2). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051771 ms (missed cycles : 2).[0m ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231953 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231953 ms (missed cycles : 2).[0m ×2 + 27.36sWARNros2_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 + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370136 ms (missed cycles : 2). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370136 ms (missed cycles : 2).[0m ×2 + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860653 ms (missed cycles : 2). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860653 ms (missed cycles : 2).[0m ×2 + 30.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589871 ms (missed cycles : 2). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589871 ms (missed cycles : 2).[0m ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212590 ms (missed cycles : 2). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212590 ms (missed cycles : 2).[0m ×2 + 32.38sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743726 ms (missed cycles : 3). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743726 ms (missed cycles : 3).[0m ×2 + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791850 ms (missed cycles : 2). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791850 ms (missed cycles : 2).[0m ×2 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314148 ms (missed cycles : 2). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314148 ms (missed cycles : 2).[0m ×2 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808957 ms (missed cycles : 4). + 36.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808957 ms (missed cycles : 4).[0m ×2 + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875974 ms (missed cycles : 3). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875974 ms (missed cycles : 3).[0m ×2 + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588493 ms (missed cycles : 2). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588493 ms (missed cycles : 2).[0m ×2 + 38.56sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.584ms + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745204 ms (missed cycles : 2). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745204 ms (missed cycles : 2).[0m ×2 + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001820 ms (missed cycles : 4). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001820 ms (missed cycles : 4).[0m ×2 + 41.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871992 ms (missed cycles : 2). + 41.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871992 ms (missed cycles : 2).[0m ×2 + 42.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043609 ms (missed cycles : 3). + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043609 ms (missed cycles : 3).[0m ×2 + 43.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951286 ms (missed cycles : 2). + 43.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951286 ms (missed cycles : 2).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767062 ms (missed cycles : 2). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767062 ms (missed cycles : 2).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913111 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913111 ms (missed cycles : 3).[0m ×2 + 46.59sINFOjoint_trajectory_controllerGoal reached, success! + 46.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788527983.19792795 seconds ×3 + 46.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939904 ms (missed cycles : 2). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939904 ms (missed cycles : 2).[0m ×2 + 47.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.15sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788527983.77325583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 47.96sWARNros2_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 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820845 ms (missed cycles : 2). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820845 ms (missed cycles : 2).[0m ×2 + 48.29sINFOobjective_server_nodeFound path in 0 iterations (2.5418e-05 s). ×2 + 48.36sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674726 ms (missed cycles : 2). + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674726 ms (missed cycles : 2).[0m ×2 + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2).[0m ×2 + 50.20sWARNros2_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 + 50.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	149 warnings · 183 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144603 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144603 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939844 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939844 ms (missed cycles : 4).[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.85sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.89sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788528052.83482862 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781436 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781436 ms (missed cycles : 2).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788528054.40808010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (5.52e-07 s). ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377750 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377750 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500772 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500772 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807825 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807825 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797894 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797894 ms (missed cycles : 2).[0m ×2 + 7.85sWARNros2_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 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912532 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912532 ms (missed cycles : 2).[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.185ms + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809068 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809068 ms (missed cycles : 2).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.000ms + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.474ms + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199984 ms (missed cycles : 3). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199984 ms (missed cycles : 3).[0m ×2 + 10.65sWARNros2_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 + 10.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.849ms + 11.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.620ms + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793688 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793688 ms (missed cycles : 2).[0m ×2 + 11.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.107ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.526ms + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198889 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198889 ms (missed cycles : 3).[0m ×2 + 12.97sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.677ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352844 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352844 ms (missed cycles : 3).[0m ×2 + 13.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.685ms + 14.25sINFOamclParticle filter update iteration stats: 4135 particles 723 points - 7.163ms + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295037 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295037 ms (missed cycles : 2).[0m ×2 + 14.82sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 7.154ms + 15.39sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.758ms + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164693 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164693 ms (missed cycles : 2).[0m ×2 + 16.00sWARNros2_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 + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.548ms + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671009 ms (missed cycles : 3). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671009 ms (missed cycles : 3).[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.285ms + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784766 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784766 ms (missed cycles : 2).[0m ×2 + 18.36sWARNros2_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 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.560494 ms (missed cycles : 5). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.560494 ms (missed cycles : 5).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997404 ms (missed cycles : 3). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997404 ms (missed cycles : 3).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 21.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569779 ms (missed cycles : 4). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569779 ms (missed cycles : 4).[0m ×2 + 22.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933805 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933805 ms (missed cycles : 2).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828852 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828852 ms (missed cycles : 2).[0m ×2 + 23.87sWARNros2_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 + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 24.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845047 ms (missed cycles : 2). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845047 ms (missed cycles : 2).[0m ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226096 ms (missed cycles : 2). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226096 ms (missed cycles : 2).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 26.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.432ms + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.134517 ms (missed cycles : 5). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.134517 ms (missed cycles : 5).[0m ×2 + 26.95sWARNros2_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 + 26.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 27.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792272 ms (missed cycles : 2). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792272 ms (missed cycles : 2).[0m ×2 + 28.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.049ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201185 ms (missed cycles : 2). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201185 ms (missed cycles : 2).[0m ×2 + 29.33sWARNros2_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 + 29.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824694 ms (missed cycles : 4). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824694 ms (missed cycles : 4).[0m ×2 + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060967 ms (missed cycles : 4). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060967 ms (missed cycles : 4).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5).[0m ×2 + 32.43sWARNros2_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 + 32.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.590ms + 33.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4).[0m ×2 + 34.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2).[0m ×2 + 34.64sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788528085.58822513 seconds ×3 + 34.78sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.78sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.88sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.88sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.19sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.22sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788528086.16832399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3). + 35.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3).[0m ×2 + 35.64sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.1s	93 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291404 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291404 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934020 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934020 ms (missed cycles : 5).[0m ×2 + 1.30sWARNros2_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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917132 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917132 ms (missed cycles : 4).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.31sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788528277.64624524 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.48sWARNros2_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 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.90sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.90sINFOobjective_server_nodecaller: ×6 + 2.90sINFOobjective_server_nodetype: 0 ×6 + 2.90sINFOobjective_server_nodename: "" ×6 + 2.90sINFOobjective_server_nodeinstance_id: "" ×6 + 2.90sINFOobjective_server_node ×6 + 2.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788528278.22623515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.034ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360579 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360579 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.65sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603075 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603075 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968455 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968455 ms (missed cycles : 3).[0m ×2 + 6.36sWARNros2_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 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007958 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007958 ms (missed cycles : 4).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320516 ms (missed cycles : 4). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320516 ms (missed cycles : 4).[0m ×2 + 7.99sWARNros2_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 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046000 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046000 ms (missed cycles : 3).[0m ×2 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 9.47sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 9.62sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.66sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148752 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148752 ms (missed cycles : 2).[0m ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 10.36sINFOobjective_server_nodeFound path in 33 iterations (0.0346114 s). ×2 + 10.93sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.01sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949663 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949663 ms (missed cycles : 2).[0m ×2 + 11.40sWARNros2_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 + 11.61sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 12.22sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245557 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245557 ms (missed cycles : 2).[0m ×2 + 12.48sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.07sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161718 ms (missed cycles : 3). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161718 ms (missed cycles : 3).[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576802 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576802 ms (missed cycles : 2).[0m ×2 + 14.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.836ms + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433020 ms (missed cycles : 3). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433020 ms (missed cycles : 3).[0m ×2 + 15.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.703ms + 16.42sWARNros2_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 + 16.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.368ms + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190819 ms (missed cycles : 4). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190819 ms (missed cycles : 4).[0m ×2 + 16.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.001ms + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388167 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388167 ms (missed cycles : 2).[0m ×2 + 18.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.419ms + 18.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788528293.75349355 seconds ×3 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844867 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844867 ms (missed cycles : 2).[0m ×2 + 19.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528294.35824275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.07sINFOmove_groupClearing octomap...[0m ×2 + 19.07sINFOmove_groupOctomap cleared.[0m ×2 + 19.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.399ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001678 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001678 ms (missed cycles : 2).[0m ×2 + 20.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528295.38841033 seconds ×3 + 20.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788528295.96528769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403818 ms (missed cycles : 2). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403818 ms (missed cycles : 2).[0m ×2 + 21.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788528296.46542287 seconds ×3 + 21.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998496 ms (missed cycles : 2). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998496 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.0s	103 errors · 38 warnings · 516 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.001ms + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388167 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388167 ms (missed cycles : 2).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.419ms + 1.47sINFOjoint_trajectory_controllerGoal reached, success! + 1.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788528293.75349355 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.58sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844867 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844867 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.02sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.02sINFOobjective_server_nodecaller: ×4 + 2.02sINFOobjective_server_nodetype: 0 ×4 + 2.02sINFOobjective_server_nodename: "" ×4 + 2.02sINFOobjective_server_nodeinstance_id: "" ×4 + 2.02sINFOobjective_server_node ×4 + 2.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528294.35824275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.399ms + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001678 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001678 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528295.38841033 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788528295.96528769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403818 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403818 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788528296.46542287 seconds ×3 + 4.37sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998496 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998496 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701448 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701448 ms (missed cycles : 3).[0m ×2 + 6.94sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448977 ms (missed cycles : 3). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448977 ms (missed cycles : 3).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455356 ms (missed cycles : 3). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455356 ms (missed cycles : 3).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940623 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940623 ms (missed cycles : 2).[0m ×2 + 10.07sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.10sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORweb_video_auth_proxy-38process has died [pid 7825, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.10sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.11sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORweb_bridge_auth_proxy-37process has died [pid 7796, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.12sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.12sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.13sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.14sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.15sINFOvideo_server-36process has finished cleanly [pid 7793] ×2 + 10.15sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.16sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.17sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.18sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.19sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.20sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.21sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.22sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888233 ms (missed cycles : 2). + 10.23sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.25sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.25sINFOcontroller_managerShutdown request received.... + 10.25sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.25sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.25sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.25sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.25sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.25sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.25sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.25sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.25sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.25sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.25sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.25sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.25sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.25sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.25sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.25sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.25sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.25sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.25sINFOcontroller_managerShutting down the controller manager. + 10.26sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.27sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.28sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.28sERRORmove_group-24process has died [pid 7724, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_wvt5ipao --params-file /tmp/launch_params_fbtenlo_ --params-file /tmp/launch_params_8th27ka9 --params-file /tmp/launch_params_6ri5bxoo --params-file /tmp/launch_params_9ycqoa4a --params-file /tmp/launch_params_b8ev0iti']. ×2 + 10.29sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.30sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.31sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.32sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.33sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.34sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.34sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.35sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.35sINFOmap_serverDeactivating + 10.35sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.35sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.35sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.35sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.35sINFOcontroller_serverDeactivating + 10.35sINFOlocal_costmap.local_costmapDeactivating + 10.35sINFOvideo_server2026/09/04 13:25:02 INF shutting down gracefully ×2 + 10.35sINFOvideo_server2026/09/04 13:25:02 INF [WebRTC] closing ×2 + 10.35sINFOvideo_server2026/09/04 13:25:02 INF [RTSP] closing ×2 + 10.35sINFOvideo_server2026/09/04 13:25:02 INF waiting for running hooks ×2 + 10.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.35sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.35sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.36sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.36sINFOmap_serverCleaning up + 10.36sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.36sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.36sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.36sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.36sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.36sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.36sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.36sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888233 ms (missed cycles : 2).[0m ×2 + 10.36sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.36sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.36sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.36sERRORmove_groupStack trace (most recent call last) in thread 8399: ×2 + 10.36sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.36sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b3708aa63, in __clone ×2 + 10.36sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b36ffdaa3, in ×2 + 10.36sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b3728fdb3, in ×2 + 10.36sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f8b379f4a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.36sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b37621620, in rclcpp::Rate::sleep() ×2 + 10.36sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b37563d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.36sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b37525087, in ×2 + 10.36sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b3725e390, in __cxa_throw ×2 + 10.36sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b37248a54, in std::terminate() ×2 + 10.36sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b3725e0d9, in ×2 + 10.36sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b37248ff4, in ×2 + 10.36sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b36f898fe, in abort ×2 + 10.36sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b36fa627d, in raise ×2 + 10.36sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b36fffb2c, in pthread_kill ×2 + 10.36sERRORmove_groupAborted (Signal sent by tkill() 7724 0) ×2 + 10.36sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.36sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.36sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.36sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.36sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.36sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.36sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.36sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.36sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.36sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.36sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.36sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.36sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.36sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.36sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.36sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.36sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.36sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.36sINFOodom_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 + 10.36sINFOodom_qos_relay.pymain() ×2 + 10.36sINFOodom_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 + 10.36sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.36sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.36sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.36sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.36sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.36sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.36sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.37sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.37sINFOcontroller_serverCleaning up + 10.37sINFOlocal_costmap.local_costmapCleaning up + 10.37sERRORamclThe bond connection to the lifecycle manager has been broken + 10.41sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.41sINFOsmoother_serverDeactivating + 10.41sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.42sINFOsmoother_serverCleaning up + 10.44sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.44sINFOplanner_serverDeactivating + 10.44sINFOglobal_costmap.global_costmapDeactivating + 10.45sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.45sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.45sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.51sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.51sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.51sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.51sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.51sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.52sINFOvelocity_smootherDeactivating + 10.52sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.63sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.63sINFOwaypoint_followerDeactivating + 10.63sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.75sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.75sINFObt_navigatorDeactivating + 10.75sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.86sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.86sINFObehavior_serverDeactivating + 10.86sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.87sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.87sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.88sINFOplanner_serverCleaning up + 10.90sINFOglobal_costmap.global_costmapCleaning up + 10.91sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.91sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.94sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.94sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.94sINFObt_navigatorCleaning up + 10.97sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.97sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.97sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.97sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.97sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.97sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.97sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.98sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.98sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.98sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.98sINFOvelocity_smootherCleaning up + 10.98sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.98sINFOwaypoint_followerCleaning up + 11.01sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.02sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.02sINFObehavior_serverCleaning up + 11.08sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.08sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.08sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.08sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.08sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.08sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.08sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.10sINFObt_navigatorCompleted Cleaning up + 11.10sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.10sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.10sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.19sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7786] ×2 + 11.19sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.26sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7776] ×2 + 11.27sINFOui_teleop_bridge-33process has finished cleanly [pid 7783] ×2 + 11.27sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7775] ×2 + 11.27sINFOexecute_objective_bridge-32process has finished cleanly [pid 7782] ×2 + 11.29sINFOcomponent_container_mt-31process has finished cleanly [pid 7781] ×2 + 11.30sINFOparameter_manager_node-25process has finished cleanly [pid 7772] ×2 + 11.32sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7707] ×2 + 11.32sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7706] ×2 + 11.32sINFOwaypoint_manager_node-26process has finished cleanly [pid 7773] ×2 + 11.33sINFOstatic_transform_publisher-9process has finished cleanly [pid 7624] ×2 + 11.34sINFOstatic_transform_publisher-8process has finished cleanly [pid 7623] ×2 + 11.34sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.34sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.35sINFOlidar_flattener.pymain() ×2 + 11.35sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.35sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.35sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.35sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.35sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.35sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.35sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.35sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.35sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.35sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.37sINFOobjective_server_node[2026-09-04 13:25:03.639] [moveit_pro_license] [critical] ×2 + 11.37sINFOobjective_server_node************************************************* ×4 + 11.37sINFOobjective_server_node* MoveIt Pro License ×2 + 11.37sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.38sINFOstatic_transform_publisher-4process has finished cleanly [pid 7619] ×2 + 11.38sINFOstatic_transform_publisher-3process has finished cleanly [pid 7618] ×2 + 11.39sINFOcomponent_container_mt-30process has finished cleanly [pid 7778] ×2 + 11.40sERRORlidar_flattener.py-7process has died [pid 7622, 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_1fzpviju']. ×2 + 11.42sERRORodom_qos_relay.py-5process has died [pid 7620, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.43sERRORcomponent_container_isolated-1process has died [pid 7616, 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_b3mipm13 --params-file /tmp/launch_params_dj5mdcx4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.43sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7621] ×2 + 11.44sINFOobjective_server_node_main-29process has finished cleanly [pid 7777] ×2 + 11.44sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.73sERRORcomponent_container_isolated-2process has died [pid 7617, 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_b3mipm13 --params-file /tmp/launch_params_krqwpoff -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.97sINFOros2_control_node-12process has finished cleanly [pid 7708] ×2 + 13.02sINFOweb_bridge-34process has finished cleanly [pid 7784] ×2 + 13.02sINFOlaunchprocess[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 · 97 warnings · 156 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045338 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148740 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148740 ms (missed cycles : 2).[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 2.26sWARNros2_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 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473555 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473555 ms (missed cycles : 3).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788528138.18848515 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_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 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299645 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299645 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788528138.76618767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.344ms + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 4.49sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588529 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588529 ms (missed cycles : 3).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282440 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282440 ms (missed cycles : 2).[0m ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684335 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684335 ms (missed cycles : 3).[0m ×2 + 7.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420456 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420456 ms (missed cycles : 2).[0m ×2 + 8.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.539ms + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728064 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728064 ms (missed cycles : 3).[0m ×2 + 9.51sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.060ms + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.775ms + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386836 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386836 ms (missed cycles : 2).[0m ×2 + 10.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.402ms + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855721 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855721 ms (missed cycles : 2).[0m ×2 + 11.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.562ms + 12.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.969ms + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846359 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846359 ms (missed cycles : 2).[0m ×2 + 12.88sWARNros2_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 + 12.90sINFOamclParticle filter update iteration stats: 3451 particles 723 points - 7.180ms + 13.47sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 4.006ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973160 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973160 ms (missed cycles : 3).[0m ×2 + 14.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.183ms + 14.09sINFOobjective_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 + 14.09sINFOjoint_trajectory_controllerGot request to cancel goal + 14.09sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.12sERRORobjective_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: 1788528149.14009476 seconds ×3 + 14.20sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.20sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.54sWARNros2_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 + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 14.60sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.60sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788528149.71150446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315077 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315077 ms (missed cycles : 2).[0m ×2 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 15.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.261ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244291 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244291 ms (missed cycles : 2).[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870233 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870233 ms (missed cycles : 2).[0m ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791075 ms (missed cycles : 3). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791075 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	71 warnings · 143 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_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 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 2.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788528046.48042989 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788528047.06470323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 3.439ms + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 10.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-3.37, 10.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.116ms + 4.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994428 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994428 ms (missed cycles : 2).[0m ×2 + 7.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144603 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144603 ms (missed cycles : 2).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939844 ms (missed cycles : 4). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939844 ms (missed cycles : 4).[0m ×2 + 9.32sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788528052.83482862 seconds ×3 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781436 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781436 ms (missed cycles : 2).[0m ×2 + 10.09sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.86sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.89sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788528054.40808010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (5.52e-07 s). ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377750 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377750 ms (missed cycles : 3).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500772 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500772 ms (missed cycles : 2).[0m ×2 + 13.01sWARNros2_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 + 13.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807825 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807825 ms (missed cycles : 2).[0m ×2 + 13.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	65 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698080 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576575 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576575 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 1.77sWARNros2_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 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438538 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438538 ms (missed cycles : 3).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788528213.97168136 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006587 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006587 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788528214.54969358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.328ms + 3.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412937 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412937 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136772 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136772 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_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 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 6.99sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2).[0m ×2 + 9.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788528220.42982221 seconds ×3 + 9.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3).[0m ×2 + 9.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788528221.00609779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.28sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2).[0m ×2 + 11.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3).[0m ×2 + 12.35sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.43sWARNros2_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 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	49 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951286 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767062 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767062 ms (missed cycles : 2).[0m ×2 + 1.57sWARNros2_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 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913111 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913111 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788527983.19792795 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939904 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939904 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788527983.77325583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 4.36sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820845 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820845 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.5418e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674726 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674726 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_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 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199187 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199187 ms (missed cycles : 4).[0m ×2 + 7.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 8.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959630 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959630 ms (missed cycles : 3).[0m ×2 + 8.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 9.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788527989.32338524 seconds ×3 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753191 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753191 ms (missed cycles : 2).[0m ×2 + 9.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.68sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788527989.90029693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.01sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 2.465ms + 10.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464407 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464407 ms (missed cycles : 3).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382401 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382401 ms (missed cycles : 2).[0m ×2 + 11.70sWARNros2_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 + 12.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000326 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000326 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.6s	30 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433020 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433020 ms (missed cycles : 3).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.703ms + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.368ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190819 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190819 ms (missed cycles : 4).[0m ×2 + 1.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.001ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388167 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388167 ms (missed cycles : 2).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.419ms + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788528293.75349355 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sWARNros2_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 ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844867 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844867 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528294.35824275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.54sINFOmove_groupClearing octomap...[0m ×2 + 3.54sINFOmove_groupOctomap cleared.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.399ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001678 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001678 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528295.38841033 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788528295.96528769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403818 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403818 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788528296.46542287 seconds ×3 + 5.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998496 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998496 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701448 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701448 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	27 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951286 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767062 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767062 ms (missed cycles : 2).[0m ×2 + 1.57sWARNros2_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 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913111 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913111 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788527983.19792795 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939904 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939904 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788527983.77325583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 4.36sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820845 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820845 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.5418e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal + 4.78sINFOjoint_trajectory_controllerAccepted new action goal + 4.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674726 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674726 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_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 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	27 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951286 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767062 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767062 ms (missed cycles : 2).[0m ×2 + 1.57sWARNros2_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 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913111 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913111 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788527983.19792795 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939904 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939904 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788527983.77325583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 4.36sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820845 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820845 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.5418e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal + 4.78sINFOjoint_trajectory_controllerAccepted new action goal + 4.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674726 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674726 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_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 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms
− skipped	Close Gripper	close_gripper.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	27 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862268 ms (missed cycles : 2).[0m ×2 + 0.12sWARNros2_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 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199187 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199187 ms (missed cycles : 4).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959630 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959630 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788527989.32338524 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sWARNros2_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 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753191 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753191 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788527989.90029693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 2.465ms + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464407 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464407 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382401 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382401 ms (missed cycles : 2).[0m ×2 + 5.22sWARNros2_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 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.81sINFOjoint_trajectory_controllerReceived new action goal + 5.81sINFOjoint_trajectory_controllerAccepted new action goal + 5.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000326 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000326 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	44 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_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 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788528046.48042989 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788528047.06470323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 3.439ms + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 10.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-3.37, 10.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.116ms + 4.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	44 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_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 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788528046.48042989 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788528047.06470323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 3.439ms + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 10.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-3.37, 10.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.116ms + 4.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	44 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_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 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788528046.48042989 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788528047.06470323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 3.439ms + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 10.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-3.37, 10.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.116ms + 4.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	44 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_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 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788528046.48042989 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788528047.06470323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 3.439ms + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 10.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-3.37, 10.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.116ms + 4.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	44 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010264 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990426 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053549 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_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 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788528046.48042989 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204745 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788528047.06470323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 3.439ms + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 10.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-3.37, 10.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.116ms + 4.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153888 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247915 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	38 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5).[0m ×2 + 0.63sWARNros2_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 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.590ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788528085.58822513 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sWARNros2_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 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788528086.16832399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3).[0m ×2 + 5.95sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	38 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5).[0m ×2 + 0.63sWARNros2_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 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.590ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788528085.58822513 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sWARNros2_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 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788528086.16832399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3).[0m ×2 + 5.95sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	38 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166699 ms (missed cycles : 5).[0m ×2 + 0.63sWARNros2_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 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.590ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068242 ms (missed cycles : 4).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121068 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788528085.58822513 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sWARNros2_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 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788528086.16832399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546775 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423313 ms (missed cycles : 3).[0m ×2 + 5.95sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154963 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− 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 4.065847 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788528220.42982221 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788528221.00609779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− 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 4.065847 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788528220.42982221 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788528221.00609779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2).[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 4.065847 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788528220.42982221 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788528221.00609779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2).[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 4.065847 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788528220.42982221 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788528221.00609779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2).[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 4.065847 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788528220.42982221 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788528221.00609779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2).[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 4.065847 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788528220.42982221 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788528221.00609779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2).[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 4.065847 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869291 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764263 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788528220.42982221 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788528221.00609779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107700 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926077 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347380 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	27 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433020 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433020 ms (missed cycles : 3).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.703ms + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.368ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190819 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190819 ms (missed cycles : 4).[0m ×2 + 1.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.001ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388167 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388167 ms (missed cycles : 2).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.419ms + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788528293.75349355 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sWARNros2_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 ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844867 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844867 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528294.35824275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.54sINFOmove_groupClearing octomap...[0m ×2 + 3.54sINFOmove_groupOctomap cleared.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.399ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001678 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001678 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528295.38841033 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788528295.96528769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403818 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403818 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788528296.46542287 seconds ×3 + 5.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998496 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998496 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 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	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 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	27 warnings · 309 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.54sINFOobjective_server_nodecaller: ×10 + 2.54sINFOobjective_server_nodetype: 0 ×10 + 2.54sINFOobjective_server_nodename: "" ×10 + 2.54sINFOobjective_server_nodeinstance_id: "" ×10 + 2.54sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.57sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 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: 1788527939.62011552 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 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964774 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964774 ms (missed cycles : 2).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.63sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.17sINFOobjective_server_nodecaller: ×10 + 3.17sINFOobjective_server_nodetype: 0 ×10 + 3.17sINFOobjective_server_nodename: "" ×10 + 3.17sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	29 warnings · 309 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.95sINFOjoint_trajectory_controllerReceived new action goal + 6.95sINFOjoint_trajectory_controllerAccepted new action goal + 6.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[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 2.964774 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964774 ms (missed cycles : 2).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.63sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.17sINFOobjective_server_nodecaller: ×10 + 3.17sINFOobjective_server_nodetype: 0 ×10 + 3.17sINFOobjective_server_nodename: "" ×10 + 3.17sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	27 warnings · 309 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129869 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.54sINFOobjective_server_nodecaller: ×10 + 2.54sINFOobjective_server_nodetype: 0 ×10 + 2.54sINFOobjective_server_nodename: "" ×10 + 2.54sINFOobjective_server_nodeinstance_id: "" ×10 + 2.54sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.57sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 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: 1788527939.62011552 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 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 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	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 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 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 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	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879639 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344792 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527937.71583319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.13sINFOmove_groupClearing octomap...[0m ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527937.72603130 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527938.29120016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527938.30132508 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923751 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527938.87401414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527939.02453303 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527939.62011552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527939.67024422 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788527940.23978662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244700 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m ×2