75
Total objective tests
18
Objectives passed
0
Objectives failed
57
Objectives skipped
21.4s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.5s | 12 errors · 314 warnings · 1520 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/2026-09-08-13-55-03-423939-c936868a678f-7561 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.20sINFOstatic_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' + 4.21sINFOstatic_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' + 4.21sINFOstatic_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' + 4.22sINFOstatic_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' + 4.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.27sINFOcontroller_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. + 4.28sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.29sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.31sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.31sINFOcontroller_serverCreating controller server + 4.33sINFOlocal_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. + 4.33sINFOlocal_costmap.local_costmapCreating Costmap + 4.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.42sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.44sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.46sINFOsmoother_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. + 4.46sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.48sINFOcontroller_managerupdate rate is 600 Hz + 4.48sINFOcontroller_managerOverruns handling is : enabled + 4.48sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.48sWARNcontroller_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. + 4.48sINFOros2_control_node-12process started with pid [7703] ×2 + 4.48sINFOmove_group-24process started with pid [7739] ×2 + 4.48sINFOparameter_manager_node-25process started with pid [7769] ×2 + 4.48sINFOwaypoint_manager_node-26process started with pid [7771] ×2 + 4.48sINFOmove_joint_resampler_node-27process started with pid [7772] ×2 + 4.48sINFOmove_end_effector_resampler_node-28process started with pid [7773] ×2 + 4.48sINFOobjective_server_node_main-29process started with pid [7774] ×2 + 4.48sINFOcomponent_container_mt-30process started with pid [7775] ×2 + 4.48sINFOcomponent_container_mt-31process started with pid [7776] ×2 + 4.48sINFOexecute_objective_bridge-32process started with pid [7777] ×2 + 4.48sINFOui_teleop_bridge-33process started with pid [7778] ×2 + 4.48sINFOweb_bridge-34process started with pid [7779] ×2 + 4.48sINFOtf2_web_republisher_node-35process started with pid [7780] ×2 + 4.48sINFOvideo_server-36process started with pid [7781] ×2 + 4.48sINFOweb_bridge_auth_proxy-37process started with pid [7784] ×2 + 4.48sINFOweb_video_auth_proxy-38process started with pid [7786] ×2 + 4.48sINFOcomponent_container_isolated-1process started with pid [7611] ×2 + 4.48sINFOcomponent_container_isolated-2process started with pid [7612] ×2 + 4.48sINFOstatic_transform_publisher-3process started with pid [7613] ×2 + 4.48sINFOstatic_transform_publisher-4process started with pid [7614] ×2 + 4.48sINFOodom_qos_relay.py-5process started with pid [7615] ×2 + 4.48sINFOforward_stereo_publisher.py-6process started with pid [7616] ×2 + 4.48sINFOlidar_flattener.py-7process started with pid [7617] ×2 + 4.48sINFOstatic_transform_publisher-8process started with pid [7618] ×2 + 4.48sINFOstatic_transform_publisher-9process started with pid [7619] ×2 + 4.48sINFOscan_to_scan_filter_chain-10process started with pid [7701] ×2 + 4.48sINFOscan_to_scan_filter_chain-11process started with pid [7702] ×2 + 4.48sINFOros2-13process started with pid [7704] ×2 + 4.49sINFOsmoother_serverCreating smoother server + 4.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.51sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.51sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.53sINFOros2-14process started with pid [7705] ×2 + 4.53sINFOros2-15process started with pid [7706] ×2 + 4.53sINFOros2-16process started with pid [7707] ×2 + 4.53sINFOros2-17process started with pid [7708] ×2 + 4.53sINFOros2-18process started with pid [7709] ×2 + 4.53sINFOros2-19process started with pid [7714] ×2 + 4.53sINFOros2-20process started with pid [7715] ×2 + 4.53sINFOros2-21process started with pid [7720] ×2 + 4.53sINFOros2-22process started with pid [7721] ×2 + 4.53sINFOros2-23process started with pid [7738] ×2 + 4.53sINFOmap_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. + 4.53sINFOmap_serverCreating + 4.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.57sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.57sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.57sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.57sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.57sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.57sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.59sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.59sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.59sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.59sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.60sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.60sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.60sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.60sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.60sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.60sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.60sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.60sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.60sWARNros2_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 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269902 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269902 ms (missed cycles : 3).[0m ×2 + 4.63sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.63sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.63sINFOplanner_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. + 4.65sINFOplanner_serverCreating + 4.68sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.69sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.69sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.69sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.70sINFOglobal_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. + 4.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.70sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.70sINFOglobal_costmap.global_costmapCreating Costmap + 4.70sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.71sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.76sINFOlifecycle_manager_localizationCreating + 4.77sINFObehavior_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. + 4.78sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.79sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.79sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.79sINFOmap_serverConfiguring + 4.79sINFOcontroller_managerReceived robot description from topic. + 4.79sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.79sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.80sINFOrobot_state_publisherRobot initialized + 4.80sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.83sINFOvideo_server2026/09/08 13:55:09 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.83sINFOvideo_server2026/09/08 13:55:09 INF configuration loaded from /tmp/moveit-webrtc-chae5o8n/mediamtx.yml ×2 + 4.83sINFOvideo_server2026/09/08 13:55:09 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.83sINFOvideo_server2026/09/08 13:55:09 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.86sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.86sINFOamclConfiguring + 4.86sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.86sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.86sINFOmap_serverActivating + 4.87sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.87sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.87sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.87sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.88sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.88sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.88sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.89sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.93sINFObt_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. + 4.96sINFObt_navigatorCreating + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.98sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.98sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.98sINFOamclActivating + 4.98sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.99sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.01sINFOamclSubscribed to map_topic: /map + 5.01sINFOamclSubscribed to scan_topic: /scan_merged + 5.01sINFOamclCreated reinitialize_global_localization service + 5.03sINFOamclCreated request_nomotion_update service + 5.03sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.03sINFOamclA new map was received + 5.03sINFOamclInitializing particle filter instance + 5.03sINFOwaypoint_followerCreating + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.04sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.07sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.11sINFOlifecycle_manager_navigationCreating + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.13sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.15sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.15sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.16sINFOcontroller_serverConfiguring controller interface + 5.16sINFOcontroller_servergetting progress checker plugins.. + 5.16sINFOcontroller_servergetting goal checker plugins.. + 5.16sINFOcontroller_serverController frequency set to 20.0000Hz + 5.16sINFOlocal_costmap.local_costmapConfiguring + 5.16sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.17sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.19sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.19sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.19sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.23sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.23sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.25sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.25sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.25sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.27sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.28sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.28sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.30sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.30sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.30sWARNlaser_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. + 5.31sWARNlaser_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. + 5.31sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.31sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.31sWARNscan_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 + 5.32sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.32sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.32sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.33sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.33sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.35sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.35sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.35sINFOcontroller_serverOptimizer reset ×2 + 5.37sINFOcontroller_serverController Server has FollowPath controllers available. + 5.41sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.41sINFOsmoother_serverConfiguring smoother server + 5.44sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.44sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.45sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.45sINFOplanner_serverConfiguring + 5.45sINFOglobal_costmap.global_costmapConfiguring + 5.46sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.47sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.48sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.48sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.49sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.53sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.53sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.54sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.58sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.60sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.60sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.61sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.62sINFOplanner_serverPlanner Server has GridBased planners available. + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.017032 ms (missed cycles : 7). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.017032 ms (missed cycles : 7).[0m ×2 + 5.65sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.65sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.431334 seconds + 5.65sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.65sINFOmove_groupLoaded robot model in 0.431334 seconds[0m ×2 + 5.65sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.65sINFObehavior_serverConfiguring + 5.65sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.65sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.66sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.67sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.67sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.68sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.69sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.70sINFObehavior_serverConfiguring spin + 5.72sINFObehavior_serverConfiguring backup + 5.74sINFObehavior_serverConfiguring drive_on_heading + 5.76sINFObehavior_serverConfiguring assisted_teleop + 5.78sINFObehavior_serverConfiguring wait + 5.80sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.80sINFObt_navigatorConfiguring + 5.81sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.84sWARNbt_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 + 5.87sINFOamclParticle filter initialization completed + 5.87sINFOamclInitializing particles from estimated pose and covariance + 5.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.90sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.90sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.90sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.98sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.02sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.06sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.06sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.06sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.07sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.07sINFOwaypoint_followerConfiguring + 6.09sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.09sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.09sINFOvelocity_smootherConfiguring velocity smoother + 6.10sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.10sINFOcontroller_serverActivating + 6.10sINFOlocal_costmap.local_costmapActivating + 6.10sINFOlocal_costmap.local_costmapChecking transform + 6.10sINFOlocal_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. ×7 + 6.26sINFOwaypoint_manager_nodeLoaded robot model in 0.427236 seconds[0m ×2 + 6.26sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.26sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.28sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.28sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.28sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.28sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.30sINFOros2_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 + 6.31sINFOros2_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 + 6.35sINFOmove_group[2026-09-08 13:55:11.393] [moveit_pro_license] [info] ×2 + 6.35sINFOmove_group************************************************* ×4 + 6.35sINFOmove_group* MoveIt Pro License ×2 + 6.35sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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. + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234295 ms (missed cycles : 2). + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234295 ms (missed cycles : 2).[0m ×2 + 6.72sWARNwaypoint_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 + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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. + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.79sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.79sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.79sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.80sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.80sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.80sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.80sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.80sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.81sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.81sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.81sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.81sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.81sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.00sINFOwaypoint_manager_node[2026-09-08 13:55:12.046] [moveit_pro_license] [info] ×2 + 7.00sINFOwaypoint_manager_node************************************************* ×4 + 7.00sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.00sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.12sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.12sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.12sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.12sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.12sWARNros2_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 + 7.12sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.12sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.12sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.12sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.12sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.13sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.13sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.13sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.13sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.13sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.13sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.13sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.13sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.13sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.13sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.13sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.13sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.13sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.13sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.13sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.13sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.13sINFOros2_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 + 7.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.34sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 7.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 7.36sINFOros2_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 + 7.36sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.36sWARNros2_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 + 7.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.41sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 7.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.41sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 7.41sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 7.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.42sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 7.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.42sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 7.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.61sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.73sINFOobjective_server_node[2026-09-08 13:55:12.777] [moveit_pro_license] [info] ×2 + 7.73sINFOobjective_server_node************************************************* ×4 + 7.73sINFOobjective_server_node* MoveIt Pro License ×2 + 7.73sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.77sINFOros2-19process has finished cleanly [pid 7714] ×2 + 7.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.78sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.78sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.80sINFOobjective_server_nodeLoaded robot model in 0.0279993 seconds[0m ×2 + 7.80sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.80sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.80sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 7.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 7.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 7.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.93sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.97sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.97sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.97sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.97sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.97sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.97sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.97sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.98sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.99sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.99sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.00sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.00sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.00sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.00sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.00sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.00sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.00sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.00sINFOstreaming_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) + 8.00sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.00sINFOcomponent_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 + 8.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.01sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973433 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973433 ms (missed cycles : 2).[0m ×2 + 8.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.23sINFOcomponent_container_mtLoaded robot model in 0.431555 seconds[0m ×2 + 8.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.23sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.23sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.23sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.25sINFOstreaming_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) + 8.25sINFOcomponent_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 + 8.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.26sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.26sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.26sWARNobjective_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. + 8.26sWARNobjective_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 + 8.27sWARNobjective_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. + 8.27sWARNobjective_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 + 8.27sWARNobjective_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. + 8.27sWARNobjective_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. + 8.27sWARNobjective_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 + 8.27sWARNobjective_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. + 8.27sWARNobjective_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 + 8.27sWARNobjective_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. + 8.27sWARNobjective_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 + 8.27sWARNobjective_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 + 8.27sWARNobjective_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. + 8.27sWARNobjective_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 + 8.27sWARNobjective_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. + 8.27sWARNobjective_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 + 8.27sWARNobjective_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. + 8.27sWARNobjective_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. + 8.27sWARNobjective_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 + 8.27sWARNobjective_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 + 8.34sINFOobjective_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 + 8.34sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.36sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.36sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.36sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.36sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.36sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.36sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.36sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.39sINFOros2_control_node[2026-09-08 13:55:13.436] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.39sINFOros2_control_node[2026-09-08 13:55:13.439] [info] Controller state will be published at 10 Hz. ×2 + 8.39sINFOros2_control_node[2026-09-08 13:55:13.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.57sINFOmove_groupMoveGroup debug mode is ON + 8.57sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.57sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.59sWARNplanning_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. + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.59sWARNplanning_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. + 8.59sWARNcomponent_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 + 8.60sWARNplanning_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. + 8.60sWARNcomponent_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 + 8.60sWARNplanning_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. + 8.60sWARNcomponent_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 + 8.60sWARNplanning_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. + 8.60sWARNcomponent_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 + 8.60sWARNplanning_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. + 8.60sWARNcomponent_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 + 8.60sWARNplanning_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. + 8.60sWARNplanning_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. + 8.60sWARNcomponent_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 + 8.60sWARNcomponent_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 + 8.60sWARNplanning_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. + 8.60sWARNplanning_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. + 8.60sWARNcomponent_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 + 8.60sWARNcomponent_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 + 8.60sWARNplanning_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. + 8.60sWARNplanning_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. + 8.60sWARNcomponent_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 + 8.60sWARNcomponent_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 + 8.60sWARNplanning_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. + 8.60sWARNplanning_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. + 8.60sWARNcomponent_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 + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.70sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.70sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.71sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 8.71sINFOcontroller_managerLoading controller 'vacuum_gripper' + 8.71sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 8.71sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 8.72sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 8.72sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 8.74sINFOmove_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
********************************************************
+ 8.74sINFOmove_group ×8 + 8.74sINFOmove_group******************************************************** ×4 + 8.74sINFOmove_group* MoveGroup using: ×2 + 8.74sINFOmove_group* - apply_planning_scene_service ×2 + 8.74sINFOmove_group* - clear_octomap_service ×2 + 8.74sINFOmove_group* - get_group_urdf ×2 + 8.74sINFOmove_group* - load_geometry_from_file ×2 + 8.74sINFOmove_group* - get_planning_scene_service ×2 + 8.74sINFOmove_group* - kinematics_service ×2 + 8.74sINFOmove_group* - save_geometry_to_file ×2 + 8.74sINFOmove_group* - GetPlanningGroups ×2 + 8.74sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.74sINFOmove_group[0m ×2 + 8.74sINFOmove_group[92mYou can start planning now![0m ×2 + 8.75sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.75sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.75sINFOros2-20process has finished cleanly [pid 7715] ×2 + 8.78sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 8.78sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 8.79sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 8.79sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 8.79sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 8.79sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 8.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 8.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 8.80sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.80sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 8.80sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 8.92sINFOcomponent_container_mt[2026-09-08 13:55:13.971] [moveit_pro_license] [info] ×2 + 8.92sINFOcomponent_container_mt************************************************* ×4 + 8.92sINFOcomponent_container_mt* MoveIt Pro License ×2 + 8.92sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.08sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 9.08sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 9.08sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 9.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 9.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 9.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275244 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275244 ms (missed cycles : 2).[0m ×2 + 9.13sINFOros2-17process has finished cleanly [pid 7708] ×2 + 9.14sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 9.14sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 9.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 9.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 9.14sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 9.14sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 9.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 9.15sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 9.16sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 9.16sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 9.31sWARNros2_control_nodeCamera render tick took 1.06 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.32sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.33sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.35sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.35sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.35sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.35sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.44sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.44sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.44sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.44sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.48sINFOros2-15process has finished cleanly [pid 7706] ×2 + 9.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.51sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 9.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 9.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.56sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.56sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.56sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.56sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.60sINFOlocal_costmap.local_costmapstart + 9.70sWARNcontroller_serverParameter controller_server.verbose not found + 9.70sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.80sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.81sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.81sINFOsmoother_serverActivating + 9.81sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.84sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.91sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.91sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.91sINFOplanner_serverActivating + 9.91sINFOglobal_costmap.global_costmapActivating + 9.91sINFOglobal_costmap.global_costmapChecking transform + 9.91sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 9.91sWARNros2_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 + 9.93sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 7.037ms + 9.94sINFOros2_control_node[2026-09-08 13:55:14.988] [info] Controller state will be published at 20 Hz. ×2 + 9.94sINFOros2_control_node[2026-09-08 13:55:14.989] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961277 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961277 ms (missed cycles : 2).[0m ×2 + 10.26sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.26sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.26sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.26sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.27sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 10.27sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 10.28sINFOros2-22process has finished cleanly [pid 7721] ×2 + 10.32sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.32sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.32sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.32sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.32sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.32sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.33sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.33sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.36sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788875713.294 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.41sINFOglobal_costmap.global_costmapstart + 10.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 10.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 10.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 10.62sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.62sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 10.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 10.65sINFOros2-14process has finished cleanly [pid 7705] ×2 + 10.67sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 10.67sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.67sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 10.67sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 10.67sINFOforce_torque_sensor_broadcasterconfigure successful + 10.67sINFOros2_control_nodeconfigure successful[0m ×6 + 10.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 10.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 10.68sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.68sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.71sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788875714.961 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.02sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.03sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 11.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 11.04sINFOros2-13process has finished cleanly [pid 7704] ×2 + 11.09sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.09sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.10sINFOplatform_velocity_controllerconfigure successful + 11.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.10sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.10sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603040 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603040 ms (missed cycles : 2).[0m ×2 + 11.43sINFOros2-16process has finished cleanly [pid 7707] ×2 + 11.43sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.43sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.43sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.43sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.43sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 11.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 11.46sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.46sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.48sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.48sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.49sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.49sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.57sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.57sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.57sINFObehavior_serverActivating + 11.57sINFObehavior_serverActivating spin + 11.57sINFObehavior_serverActivating backup + 11.57sINFObehavior_serverActivating drive_on_heading + 11.57sINFObehavior_serverActivating assisted_teleop + 11.57sINFObehavior_serverActivating wait + 11.57sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.67sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.67sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.67sINFObt_navigatorActivating + 11.74sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.84sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.84sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.84sINFOwaypoint_followerActivating + 11.84sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.89sINFOros2_control_node[2026-09-08 13:55:16.933] [info] Controller state will be published at 20 Hz. ×2 + 11.89sINFOros2_control_node[2026-09-08 13:55:16.933] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.95sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.95sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.95sINFOvelocity_smootherActivating + 11.95sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.05sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.05sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.05sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.19sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.19sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.19sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 12.20sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.20sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.20sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 12.25sINFOros2-23process has finished cleanly [pid 7738] ×2 + 12.25sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.25sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.25sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.25sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519539 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519539 ms (missed cycles : 2).[0m ×2 + 12.64sINFOros2_control_node[2026-09-08 13:55:17.690] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.65sINFOros2_control_node[2026-09-08 13:55:17.693] [info] Controller state will be published at 10 Hz. ×2 + 12.65sINFOros2_control_node[2026-09-08 13:55:17.694] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.99sINFOros2-21process has finished cleanly [pid 7720] ×2 + 13.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 13.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo + 13.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 13.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8pu6tcrp --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_ifub0q5v --params-file /tmp/launch_params_g6tnrxgo [0m ×2 + 13.05sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 13.05sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 13.06sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.06sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.06sINFOplatform_velocity_controller_nav2configure successful + 13.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649148 ms (missed cycles : 4). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649148 ms (missed cycles : 4).[0m ×2 + 13.41sINFOros2-18process has finished cleanly [pid 7709] ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350965 ms (missed cycles : 3). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350965 ms (missed cycles : 3).[0m ×2 + 15.07sWARNros2_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 ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 17.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 18.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.40sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.41sINFOobjective_server_nodecaller: ×10 + 18.41sINFOobjective_server_nodetype: 0 ×10 + 18.41sINFOobjective_server_nodename: "" ×10 + 18.41sINFOobjective_server_nodeinstance_id: "" ×10 + 18.41sINFOobjective_server_node ×10 + 18.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.44sINFOmove_groupClearing octomap...[0m ×2 + 18.44sINFOmove_groupOctomap cleared.[0m ×2 + 18.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 18.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 19.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 19.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 20.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.36sINFOobjective_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 + 20.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 20.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 20.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.0s | 3 errors · 278 warnings · 258 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629935 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629935 ms (missed cycles : 3).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 0.54sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.679ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642340 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642340 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 1.62sINFOamclParticle filter update iteration stats: 2732 particles 723 points - 8.163ms + 2.13sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.325ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284669 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284669 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 2.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.466ms + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOjoint_trajectory_controllerGot request to cancel goal + 3.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.03sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.06sERRORobjective_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: 1788875932.93944645 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-0.54, 2.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-1.44, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821980 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821980 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788875933.52198505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.267ms + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244370 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244370 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376752 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376752 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124273 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124273 ms (missed cycles : 2).[0m ×2 + 8.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.465ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166244 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166244 ms (missed cycles : 2).[0m ×2 + 8.67sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 8.69sWARNros2_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 ×10 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.941ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271164 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271164 ms (missed cycles : 2).[0m ×2 + 9.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.840ms + 10.22sINFOamclParticle filter update iteration stats: 3253 particles 723 points - 6.822ms + 10.75sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 4.285ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818019 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818019 ms (missed cycles : 3).[0m ×2 + 11.25sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.604ms + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483587 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483587 ms (missed cycles : 3).[0m ×2 + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859075 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859075 ms (missed cycles : 3).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms ×3 + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442952 ms (missed cycles : 3). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442952 ms (missed cycles : 3).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 14.83sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286463 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286463 ms (missed cycles : 3).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059572 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059572 ms (missed cycles : 3).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042813 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042813 ms (missed cycles : 2).[0m ×2 + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529206 ms (missed cycles : 3). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529206 ms (missed cycles : 3).[0m ×2 + 18.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162402 ms (missed cycles : 2). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162402 ms (missed cycles : 2).[0m ×2 + 19.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578068 ms (missed cycles : 2). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578068 ms (missed cycles : 2).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881173 ms (missed cycles : 2). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881173 ms (missed cycles : 2).[0m ×2 + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854786 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854786 ms (missed cycles : 2).[0m ×2 + 22.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767675 ms (missed cycles : 2). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767675 ms (missed cycles : 2).[0m ×2 + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326847 ms (missed cycles : 2). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326847 ms (missed cycles : 2).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 25.51sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 25.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758504 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758504 ms (missed cycles : 3).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.254ms + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031054 ms (missed cycles : 2). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031054 ms (missed cycles : 2).[0m ×2 + 27.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808626 ms (missed cycles : 4). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808626 ms (missed cycles : 4).[0m ×2 + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258107 ms (missed cycles : 2). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258107 ms (missed cycles : 2).[0m ×2 + 29.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 29.83sWARNros2_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 + 29.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124085 ms (missed cycles : 4). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124085 ms (missed cycles : 4).[0m ×2 + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858159 ms (missed cycles : 2). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858159 ms (missed cycles : 2).[0m ×2 + 31.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975074 ms (missed cycles : 4). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975074 ms (missed cycles : 4).[0m ×2 + 32.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702436 ms (missed cycles : 4). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702436 ms (missed cycles : 4).[0m ×2 + 33.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 34.41sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.41sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124274 ms (missed cycles : 4). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124274 ms (missed cycles : 4).[0m ×2 + 34.94sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.33sWARNros2_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 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093901 ms (missed cycles : 4). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093901 ms (missed cycles : 4).[0m ×2 + 35.80sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 36.48sWARNros2_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 + 36.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499776 ms (missed cycles : 3). + 36.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499776 ms (missed cycles : 3).[0m ×2 + 37.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062367 ms (missed cycles : 5). + 37.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062367 ms (missed cycles : 5).[0m ×2 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383698 ms (missed cycles : 5). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383698 ms (missed cycles : 5).[0m ×2 + 38.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms ×2 + 39.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 39.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.300ms + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298445 ms (missed cycles : 2). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298445 ms (missed cycles : 2).[0m ×2 + 40.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035134 ms (missed cycles : 3). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035134 ms (missed cycles : 3).[0m ×2 + 41.87sWARNros2_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 + 41.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137429 ms (missed cycles : 2). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137429 ms (missed cycles : 2).[0m ×2 + 43.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299093 ms (missed cycles : 2). + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299093 ms (missed cycles : 2).[0m ×2 + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221877 ms (missed cycles : 3). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221877 ms (missed cycles : 3).[0m ×2 + 44.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075634 ms (missed cycles : 3). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075634 ms (missed cycles : 3).[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551898 ms (missed cycles : 4). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551898 ms (missed cycles : 4).[0m ×2 + 46.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656369 ms (missed cycles : 3). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656369 ms (missed cycles : 3).[0m ×2 + 47.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785533 ms (missed cycles : 2). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785533 ms (missed cycles : 2).[0m ×2 + 48.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148547 ms (missed cycles : 2). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148547 ms (missed cycles : 2).[0m ×2 + 49.83sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809964 ms (missed cycles : 2). + 50.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809964 ms (missed cycles : 2).[0m ×2 + 51.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406775 ms (missed cycles : 3). + 51.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406775 ms (missed cycles : 3).[0m ×2 + 52.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732567 ms (missed cycles : 2). + 52.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732567 ms (missed cycles : 2).[0m ×2 + 53.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046324 ms (missed cycles : 3). + 53.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046324 ms (missed cycles : 3).[0m ×2 + 54.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 54.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546281 ms (missed cycles : 2). + 54.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546281 ms (missed cycles : 2).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 55.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558229 ms (missed cycles : 4). + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558229 ms (missed cycles : 4).[0m ×2 + 56.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.151ms + 56.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556668 ms (missed cycles : 2). + 56.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556668 ms (missed cycles : 2).[0m ×2 + 56.98sWARNros2_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 + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735075 ms (missed cycles : 3). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735075 ms (missed cycles : 3).[0m ×2 + 58.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 58.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773465 ms (missed cycles : 2). + 58.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773465 ms (missed cycles : 2).[0m ×2 + 58.97sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 59.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076646 ms (missed cycles : 2). + 59.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076646 ms (missed cycles : 2).[0m ×2 + 60.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309912 ms (missed cycles : 2). + 60.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309912 ms (missed cycles : 2).[0m ×2 + 61.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959144 ms (missed cycles : 3). + 61.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959144 ms (missed cycles : 3).[0m ×2 + 63.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049786 ms (missed cycles : 4). + 63.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049786 ms (missed cycles : 4).[0m ×2 + 63.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 64.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858538 ms (missed cycles : 3). + 64.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858538 ms (missed cycles : 3).[0m ×2 + 65.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 65.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059723 ms (missed cycles : 3). + 65.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059723 ms (missed cycles : 3).[0m ×2 + 66.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 66.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442092 ms (missed cycles : 3). + 66.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442092 ms (missed cycles : 3).[0m ×2 + 67.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.017ms + 67.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020958 ms (missed cycles : 2). + 67.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020958 ms (missed cycles : 2).[0m ×2 + 67.85sWARNros2_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 + 68.04sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788875997.91215467 seconds ×3 + 68.17sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 68.17sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 68.47sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.47sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.58sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.61sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788875998.48768353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900377 ms (missed cycles : 4). + 68.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900377 ms (missed cycles : 4).[0m ×2 + 68.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.590ms + 69.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193937 ms (missed cycles : 2). + 69.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193937 ms (missed cycles : 2).[0m ×2 + 70.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805584 ms (missed cycles : 2). + 70.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805584 ms (missed cycles : 2).[0m ×2 + 71.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 71.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.0s | 232 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.59sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788876004.28782630 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788876004.86923528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sWARNros2_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 + 3.53sWARNros2_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 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.51sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807366 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807366 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989294 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989294 ms (missed cycles : 3).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.140ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268546 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268546 ms (missed cycles : 2).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.591ms + 9.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.380ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619017 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619017 ms (missed cycles : 2).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.796ms + 10.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 10.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.129ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819856 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819856 ms (missed cycles : 3).[0m ×2 + 10.95sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 10.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.787ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.206ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954014 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954014 ms (missed cycles : 2).[0m ×2 + 12.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.411ms + 12.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.809ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829833 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829833 ms (missed cycles : 2).[0m ×2 + 13.07sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 6.853ms + 13.64sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 5.420ms + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697940 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697940 ms (missed cycles : 2).[0m ×2 + 14.17sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 4.382ms + 14.68sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 3.348ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559044 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559044 ms (missed cycles : 2).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 15.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469263 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469263 ms (missed cycles : 2).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909509 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909509 ms (missed cycles : 2).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793632 ms (missed cycles : 2). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793632 ms (missed cycles : 2).[0m ×2 + 18.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 18.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784340 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784340 ms (missed cycles : 2).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786406 ms (missed cycles : 5). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786406 ms (missed cycles : 5).[0m ×2 + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 20.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071377 ms (missed cycles : 4). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071377 ms (missed cycles : 4).[0m ×2 + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274692 ms (missed cycles : 5). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274692 ms (missed cycles : 5).[0m ×2 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 23.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133791 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133791 ms (missed cycles : 2).[0m ×2 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 24.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355007 ms (missed cycles : 4). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355007 ms (missed cycles : 4).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659905 ms (missed cycles : 3). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659905 ms (missed cycles : 3).[0m ×2 + 25.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486431 ms (missed cycles : 2). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486431 ms (missed cycles : 2).[0m ×2 + 26.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 27.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033058 ms (missed cycles : 2). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033058 ms (missed cycles : 2).[0m ×2 + 27.97sWARNros2_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 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545720 ms (missed cycles : 3). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545720 ms (missed cycles : 3).[0m ×2 + 29.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766743 ms (missed cycles : 3). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766743 ms (missed cycles : 3).[0m ×2 + 30.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766705 ms (missed cycles : 3). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766705 ms (missed cycles : 3).[0m ×2 + 31.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226582 ms (missed cycles : 2). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226582 ms (missed cycles : 2).[0m ×2 + 31.81sWARNros2_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 + 31.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275139 ms (missed cycles : 2). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275139 ms (missed cycles : 2).[0m ×2 + 33.42sWARNros2_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 + 33.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 33.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559099 ms (missed cycles : 3). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559099 ms (missed cycles : 3).[0m ×2 + 33.92sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788319 ms (missed cycles : 3). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788319 ms (missed cycles : 3).[0m ×2 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660392 ms (missed cycles : 3). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660392 ms (missed cycles : 3).[0m ×2 + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401089 ms (missed cycles : 4). + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401089 ms (missed cycles : 4).[0m ×2 + 37.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 37.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506035 ms (missed cycles : 4). + 37.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506035 ms (missed cycles : 4).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004207 ms (missed cycles : 4). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004207 ms (missed cycles : 4).[0m ×2 + 40.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735830 ms (missed cycles : 3). + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735830 ms (missed cycles : 3).[0m ×2 + 40.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406343 ms (missed cycles : 3). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406343 ms (missed cycles : 3).[0m ×2 + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020224 ms (missed cycles : 3). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020224 ms (missed cycles : 3).[0m ×2 + 42.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480711 ms (missed cycles : 4). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480711 ms (missed cycles : 4).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667220 ms (missed cycles : 2). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667220 ms (missed cycles : 2).[0m ×2 + 45.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495447 ms (missed cycles : 3). + 45.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495447 ms (missed cycles : 3).[0m ×2 + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925184 ms (missed cycles : 2). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925184 ms (missed cycles : 2).[0m ×2 + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004416 ms (missed cycles : 4). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004416 ms (missed cycles : 4).[0m ×2 + 48.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969665 ms (missed cycles : 3). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969665 ms (missed cycles : 3).[0m ×2 + 49.80sWARNros2_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 + 49.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609947 ms (missed cycles : 3). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609947 ms (missed cycles : 3).[0m ×2 + 50.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596115 ms (missed cycles : 4). + 50.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596115 ms (missed cycles : 4).[0m ×2 + 51.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 51.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135139 ms (missed cycles : 4). + 51.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135139 ms (missed cycles : 4).[0m ×2 + 53.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897274 ms (missed cycles : 2). + 53.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897274 ms (missed cycles : 2).[0m ×2 + 54.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251118 ms (missed cycles : 2). + 54.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251118 ms (missed cycles : 2).[0m ×2 + 54.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 55.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256581 ms (missed cycles : 2). + 55.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256581 ms (missed cycles : 2).[0m ×2 + 56.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321464 ms (missed cycles : 2). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321464 ms (missed cycles : 2).[0m ×2 + 57.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912793 ms (missed cycles : 3). + 57.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912793 ms (missed cycles : 3).[0m ×2 + 58.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855300 ms (missed cycles : 5). + 58.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855300 ms (missed cycles : 5).[0m ×2 + 59.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297560 ms (missed cycles : 4). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297560 ms (missed cycles : 4).[0m ×2 + 59.61sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788876061.29939723 seconds ×3 + 59.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 59.66sWARNlocal_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 + 59.66sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.978ms + 60.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.15sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788876061.88589501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.55sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 60.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.874ms + 60.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979664 ms (missed cycles : 2). + 60.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979664 ms (missed cycles : 2).[0m ×2 + 60.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453698 ms (missed cycles : 2). + 61.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453698 ms (missed cycles : 2).[0m ×2 + 62.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377573 ms (missed cycles : 3). + 62.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377573 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.9s | 233 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195016 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195016 ms (missed cycles : 2).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630397 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630397 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788875774.97320795 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 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_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 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711995 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711995 ms (missed cycles : 2).[0m ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×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 `Generate Grid Pattern on Airplane` starting at time: 1788875775.54858756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.00sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.457ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670562 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670562 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824094 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824094 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.94sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.94sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290809 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290809 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176365 ms (missed cycles : 4). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176365 ms (missed cycles : 4).[0m ×2 + 8.46sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 3.736ms + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947265 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947265 ms (missed cycles : 2).[0m ×2 + 9.44sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 3.130ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695207 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695207 ms (missed cycles : 2).[0m ×2 + 9.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 9.95sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.363ms + 10.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063694 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063694 ms (missed cycles : 3).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 11.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847714 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847714 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms ×2 + 12.50sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 12.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137089 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137089 ms (missed cycles : 2).[0m ×2 + 13.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 13.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639037 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639037 ms (missed cycles : 2).[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms ×3 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314309 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314309 ms (missed cycles : 2).[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 15.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109095 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109095 ms (missed cycles : 2).[0m ×2 + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952538 ms (missed cycles : 4). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952538 ms (missed cycles : 4).[0m ×2 + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 17.72sWARNros2_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 ×8 + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092150 ms (missed cycles : 2). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092150 ms (missed cycles : 2).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 19.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814135 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814135 ms (missed cycles : 2).[0m ×2 + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 20.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174784 ms (missed cycles : 4). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174784 ms (missed cycles : 4).[0m ×2 + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386322 ms (missed cycles : 3). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386322 ms (missed cycles : 3).[0m ×2 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551935 ms (missed cycles : 3). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551935 ms (missed cycles : 3).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581360 ms (missed cycles : 3). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581360 ms (missed cycles : 3).[0m ×2 + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077808 ms (missed cycles : 4). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077808 ms (missed cycles : 4).[0m ×2 + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 25.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×8 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661946 ms (missed cycles : 2). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661946 ms (missed cycles : 2).[0m ×2 + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046198 ms (missed cycles : 4). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046198 ms (missed cycles : 4).[0m ×2 + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789542 ms (missed cycles : 3). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789542 ms (missed cycles : 3).[0m ×2 + 28.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.117ms + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.196ms + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364255 ms (missed cycles : 4). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364255 ms (missed cycles : 4).[0m ×2 + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243155 ms (missed cycles : 3). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243155 ms (missed cycles : 3).[0m ×2 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566180 ms (missed cycles : 4). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566180 ms (missed cycles : 4).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 32.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230075 ms (missed cycles : 2). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230075 ms (missed cycles : 2).[0m ×2 + 33.72sWARNros2_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 + 33.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395423 ms (missed cycles : 3). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395423 ms (missed cycles : 3).[0m ×2 + 34.35sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556046 ms (missed cycles : 4). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556046 ms (missed cycles : 4).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926103 ms (missed cycles : 2). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926103 ms (missed cycles : 2).[0m ×2 + 37.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078847 ms (missed cycles : 2). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078847 ms (missed cycles : 2).[0m ×2 + 38.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154832 ms (missed cycles : 3). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154832 ms (missed cycles : 3).[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517068 ms (missed cycles : 3). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517068 ms (missed cycles : 3).[0m ×2 + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635122 ms (missed cycles : 3). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635122 ms (missed cycles : 3).[0m ×2 + 41.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 41.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 41.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875842 ms (missed cycles : 4). + 41.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875842 ms (missed cycles : 4).[0m ×2 + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652152 ms (missed cycles : 4). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652152 ms (missed cycles : 4).[0m ×2 + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934117 ms (missed cycles : 2). + 44.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934117 ms (missed cycles : 2).[0m ×2 + 45.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327519 ms (missed cycles : 4). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327519 ms (missed cycles : 4).[0m ×2 + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530213 ms (missed cycles : 2). + 46.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530213 ms (missed cycles : 2).[0m ×2 + 47.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164623 ms (missed cycles : 3). + 47.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164623 ms (missed cycles : 3).[0m ×2 + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264535 ms (missed cycles : 2). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264535 ms (missed cycles : 2).[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216460 ms (missed cycles : 3). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216460 ms (missed cycles : 3).[0m ×2 + 50.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221009 ms (missed cycles : 4). + 50.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221009 ms (missed cycles : 4).[0m ×2 + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324715 ms (missed cycles : 4). + 51.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324715 ms (missed cycles : 4).[0m ×2 + 52.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.078ms + 52.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234334 ms (missed cycles : 3). + 52.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234334 ms (missed cycles : 3).[0m ×2 + 53.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012740 ms (missed cycles : 2). + 53.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012740 ms (missed cycles : 2).[0m ×2 + 54.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813234 ms (missed cycles : 2). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813234 ms (missed cycles : 2).[0m ×2 + 55.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 55.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742421 ms (missed cycles : 4). + 55.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742421 ms (missed cycles : 4).[0m ×2 + 57.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4). + 57.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4).[0m ×2 + 58.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3). + 58.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3).[0m ×2 + 59.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3). + 59.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3).[0m ×2 + 59.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 59.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788875831.89872241 seconds ×3 + 59.98sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.98sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3). + 60.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3).[0m ×2 + 60.28sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.28sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.48sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788875832.48017097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.766ms + 60.89sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 61.18sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2). + 61.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2).[0m ×2 + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2). + 62.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2).[0m ×2 + 63.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2). + 63.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.5s | 233 warnings · 222 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2).[0m ×2 + 1.68sWARNros2_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 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.79sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788875870.74530315 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788875871.32066774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.233ms + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×8 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348968 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348968 ms (missed cycles : 3).[0m ×2 + 7.61sWARNros2_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 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943888 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943888 ms (missed cycles : 2).[0m ×2 + 8.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.417ms + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101040 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101040 ms (missed cycles : 2).[0m ×2 + 9.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.559ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.693ms + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562650 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562650 ms (missed cycles : 3).[0m ×2 + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.007ms + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.034ms + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355058 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355058 ms (missed cycles : 2).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.211ms + 11.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.802ms + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897997 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897997 ms (missed cycles : 2).[0m ×2 + 12.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.571ms + 12.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.182ms + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843111 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843111 ms (missed cycles : 3).[0m ×2 + 13.26sWARNros2_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 ×8 + 13.30sINFOamclParticle filter update iteration stats: 4270 particles 723 points - 6.842ms + 13.83sINFOamclParticle filter update iteration stats: 3263 particles 723 points - 6.503ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534575 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534575 ms (missed cycles : 2).[0m ×2 + 14.34sINFOamclParticle filter update iteration stats: 2177 particles 723 points - 5.638ms + 14.88sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 3.192ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111457 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111457 ms (missed cycles : 2).[0m ×2 + 15.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.826ms + 15.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.240ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982145 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982145 ms (missed cycles : 2).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.205ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064989 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064989 ms (missed cycles : 2).[0m ×2 + 17.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492746 ms (missed cycles : 3). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492746 ms (missed cycles : 3).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 19.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760068 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760068 ms (missed cycles : 2).[0m ×2 + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728060 ms (missed cycles : 3). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728060 ms (missed cycles : 3).[0m ×2 + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.977ms + 21.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748326 ms (missed cycles : 3). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748326 ms (missed cycles : 3).[0m ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809022 ms (missed cycles : 2). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809022 ms (missed cycles : 2).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471111 ms (missed cycles : 4). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471111 ms (missed cycles : 4).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 24.07sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462126 ms (missed cycles : 3). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462126 ms (missed cycles : 3).[0m ×2 + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 25.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510872 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510872 ms (missed cycles : 3).[0m ×2 + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447750 ms (missed cycles : 3). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447750 ms (missed cycles : 3).[0m ×2 + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 27.37sWARNros2_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 + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860548 ms (missed cycles : 2). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860548 ms (missed cycles : 2).[0m ×2 + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 28.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901341 ms (missed cycles : 3). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901341 ms (missed cycles : 3).[0m ×2 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953523 ms (missed cycles : 3). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953523 ms (missed cycles : 3).[0m ×2 + 30.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 31.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216128 ms (missed cycles : 3). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216128 ms (missed cycles : 3).[0m ×2 + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 32.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980520 ms (missed cycles : 3). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980520 ms (missed cycles : 3).[0m ×2 + 32.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291339 ms (missed cycles : 4). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291339 ms (missed cycles : 4).[0m ×2 + 34.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765720 ms (missed cycles : 3). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765720 ms (missed cycles : 3).[0m ×2 + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519290 ms (missed cycles : 3). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519290 ms (missed cycles : 3).[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.252161 ms (missed cycles : 5). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.252161 ms (missed cycles : 5).[0m ×2 + 37.05sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442367 ms (missed cycles : 4). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442367 ms (missed cycles : 4).[0m ×2 + 37.78sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 37.99sWARNros2_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 + 38.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820309 ms (missed cycles : 3). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820309 ms (missed cycles : 3).[0m ×2 + 39.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653380 ms (missed cycles : 3). + 39.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653380 ms (missed cycles : 3).[0m ×2 + 39.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906569 ms (missed cycles : 3). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906569 ms (missed cycles : 3).[0m ×2 + 40.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 41.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 41.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692023 ms (missed cycles : 3). + 41.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692023 ms (missed cycles : 3).[0m ×2 + 41.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850474 ms (missed cycles : 2). + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850474 ms (missed cycles : 2).[0m ×2 + 43.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172031 ms (missed cycles : 2). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172031 ms (missed cycles : 2).[0m ×2 + 44.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103946 ms (missed cycles : 4). + 44.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103946 ms (missed cycles : 4).[0m ×2 + 45.80sWARNros2_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 + 46.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106310 ms (missed cycles : 4). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106310 ms (missed cycles : 4).[0m ×2 + 46.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.359ms + 46.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391163 ms (missed cycles : 4). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391163 ms (missed cycles : 4).[0m ×2 + 47.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 47.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974061 ms (missed cycles : 3). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974061 ms (missed cycles : 3).[0m ×2 + 48.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 49.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368283 ms (missed cycles : 3). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368283 ms (missed cycles : 3).[0m ×2 + 50.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143642 ms (missed cycles : 2). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143642 ms (missed cycles : 2).[0m ×2 + 51.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098537 ms (missed cycles : 4). + 51.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098537 ms (missed cycles : 4).[0m ×2 + 52.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 52.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937135 ms (missed cycles : 2). + 52.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937135 ms (missed cycles : 2).[0m ×2 + 53.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 53.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140248 ms (missed cycles : 3). + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140248 ms (missed cycles : 3).[0m ×2 + 54.31sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788875922.24076200 seconds ×3 + 54.41sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 54.41sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971768 ms (missed cycles : 2). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971768 ms (missed cycles : 2).[0m ×2 + 54.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 54.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 54.88sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788875922.81618619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 54.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.195ms + 55.28sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 55.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698655 ms (missed cycles : 3). + 55.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698655 ms (missed cycles : 3).[0m ×2 + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628155 ms (missed cycles : 2). + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628155 ms (missed cycles : 2).[0m ×2 + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677517 ms (missed cycles : 2). + 57.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677517 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 153 warnings · 380 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.60sINFOmove_groupClearing octomap...[0m ×2 + 0.60sINFOmove_groupOctomap cleared.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 2.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 4.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733456 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733456 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130122 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130122 ms (missed cycles : 2).[0m ×2 + 7.48sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 2.797ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633485 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633485 ms (missed cycles : 3).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631090 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631090 ms (missed cycles : 3).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538868 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538868 ms (missed cycles : 3).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736473 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736473 ms (missed cycles : 2).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688931 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688931 ms (missed cycles : 2).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438521 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438521 ms (missed cycles : 2).[0m ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829768 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829768 ms (missed cycles : 2).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187473 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187473 ms (missed cycles : 3).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152948 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152948 ms (missed cycles : 2).[0m ×2 + 17.75sWARNros2_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 ×6 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701030 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701030 ms (missed cycles : 2).[0m ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725944 ms (missed cycles : 2). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725944 ms (missed cycles : 2).[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959370 ms (missed cycles : 3). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959370 ms (missed cycles : 3).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307862 ms (missed cycles : 4). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307862 ms (missed cycles : 4).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795690 ms (missed cycles : 2). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795690 ms (missed cycles : 2).[0m ×2 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741654 ms (missed cycles : 2). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741654 ms (missed cycles : 2).[0m ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004660 ms (missed cycles : 2). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004660 ms (missed cycles : 2).[0m ×2 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029934 ms (missed cycles : 2). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029934 ms (missed cycles : 2).[0m ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733618 ms (missed cycles : 2). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733618 ms (missed cycles : 2).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668731 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668731 ms (missed cycles : 2).[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995258 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995258 ms (missed cycles : 2).[0m ×2 + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001929 ms (missed cycles : 2). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001929 ms (missed cycles : 2).[0m ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779666 ms (missed cycles : 3). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779666 ms (missed cycles : 3).[0m ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138730 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138730 ms (missed cycles : 2).[0m ×2 + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779816 ms (missed cycles : 4). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779816 ms (missed cycles : 4).[0m ×2 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292952 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292952 ms (missed cycles : 2).[0m ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985088 ms (missed cycles : 2). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985088 ms (missed cycles : 2).[0m ×2 + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474839 ms (missed cycles : 2). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474839 ms (missed cycles : 2).[0m ×2 + 37.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065024 ms (missed cycles : 2). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065024 ms (missed cycles : 2).[0m ×2 + 37.81sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 3.094ms + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197620 ms (missed cycles : 4). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197620 ms (missed cycles : 4).[0m ×2 + 39.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718809 ms (missed cycles : 4). + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718809 ms (missed cycles : 4).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215175 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215175 ms (missed cycles : 2).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037933 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037933 ms (missed cycles : 2).[0m ×2 + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840054 ms (missed cycles : 2). + 42.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840054 ms (missed cycles : 2).[0m ×2 + 43.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935133 ms (missed cycles : 2). + 43.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935133 ms (missed cycles : 2).[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135160 ms (missed cycles : 4). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135160 ms (missed cycles : 4).[0m ×2 + 45.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343998 ms (missed cycles : 3). + 45.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343998 ms (missed cycles : 3).[0m ×2 + 45.99sINFOjoint_trajectory_controllerGoal reached, success! + 45.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788875768.93128681 seconds ×3 + 46.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 46.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.58sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788875769.51307106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789428 ms (missed cycles : 2). + 46.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789428 ms (missed cycles : 2).[0m ×2 + 47.65sINFOobjective_server_nodeFound path in 0 iterations (2.344e-05 s). ×2 + 47.70sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182202 ms (missed cycles : 2). + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182202 ms (missed cycles : 2).[0m ×2 + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3).[0m ×2 + 49.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.5s | 150 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×8 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118952 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118952 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919995 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919995 ms (missed cycles : 2).[0m ×2 + 2.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.04sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788875838.22032785 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283335 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283335 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407419 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407419 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788875839.79515576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370342 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370342 ms (missed cycles : 2).[0m ×2 + 4.58sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600438 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600438 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547888 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547888 ms (missed cycles : 3).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606301 ms (missed cycles : 3). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606301 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.794ms + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.148819 ms (missed cycles : 4). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.148819 ms (missed cycles : 4).[0m ×2 + 9.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.307ms + 9.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.821ms + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874791 ms (missed cycles : 4). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874791 ms (missed cycles : 4).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.389ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.280ms + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427169 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427169 ms (missed cycles : 2).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.220ms + 11.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.853ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343775 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343775 ms (missed cycles : 4).[0m ×2 + 12.20sWARNros2_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 + 12.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.843ms + 12.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.491ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603639 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603639 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.730ms + 13.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.757ms + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379581 ms (missed cycles : 4). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379581 ms (missed cycles : 4).[0m ×2 + 14.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.790ms + 14.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.594ms + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659378 ms (missed cycles : 4). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659378 ms (missed cycles : 4).[0m ×2 + 15.41sWARNros2_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 + 15.43sINFOamclParticle filter update iteration stats: 4404 particles 723 points - 11.681ms + 15.97sINFOamclParticle filter update iteration stats: 3731 particles 723 points - 9.203ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313171 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313171 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 6.074ms + 17.03sINFOamclParticle filter update iteration stats: 2794 particles 723 points - 5.986ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508182 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508182 ms (missed cycles : 2).[0m ×2 + 17.52sWARNros2_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 + 17.56sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 4.888ms + 18.10sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 3.890ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457805 ms (missed cycles : 3). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457805 ms (missed cycles : 3).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.471ms + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007201 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007201 ms (missed cycles : 2).[0m ×2 + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 20.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534462 ms (missed cycles : 2). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534462 ms (missed cycles : 2).[0m ×2 + 20.79sWARNros2_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 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 21.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670404 ms (missed cycles : 3). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670404 ms (missed cycles : 3).[0m ×2 + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833624 ms (missed cycles : 3). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833624 ms (missed cycles : 3).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450981 ms (missed cycles : 4). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450981 ms (missed cycles : 4).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803513 ms (missed cycles : 3). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803513 ms (missed cycles : 3).[0m ×2 + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.960ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049898 ms (missed cycles : 4). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049898 ms (missed cycles : 4).[0m ×2 + 25.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103853 ms (missed cycles : 3). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103853 ms (missed cycles : 3).[0m ×2 + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183573 ms (missed cycles : 2). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183573 ms (missed cycles : 2).[0m ×2 + 27.91sWARNros2_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 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 28.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017361 ms (missed cycles : 5). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017361 ms (missed cycles : 5).[0m ×2 + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441768 ms (missed cycles : 4). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441768 ms (missed cycles : 4).[0m ×2 + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 30.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590861 ms (missed cycles : 4). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590861 ms (missed cycles : 4).[0m ×2 + 31.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 31.75sWARNros2_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 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3). + 31.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3).[0m ×2 + 32.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 32.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2).[0m ×2 + 33.43sWARNros2_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 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5).[0m ×2 + 34.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 34.57sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788875870.74530315 seconds ×3 + 34.67sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.67sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.87sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.87sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.14sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788875871.32066774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3).[0m ×2 + 35.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.233ms + 35.52sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3).[0m ×2 + 37.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3). + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 15.9s | 85 warnings · 240 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912793 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912793 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855300 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855300 ms (missed cycles : 5).[0m ×2 + 1.58sWARNros2_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 + 2.06sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.06sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297560 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297560 ms (missed cycles : 4).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788876061.29939723 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 2.14sWARNlocal_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 + 2.14sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.978ms + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.64sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.64sINFOobjective_server_nodecaller: ×6 + 2.64sINFOobjective_server_nodetype: 0 ×6 + 2.64sINFOobjective_server_nodename: "" ×6 + 2.64sINFOobjective_server_nodeinstance_id: "" ×6 + 2.64sINFOobjective_server_node ×6 + 2.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788876061.88589501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 3.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.874ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979664 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979664 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453698 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453698 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377573 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377573 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907470 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907470 ms (missed cycles : 2).[0m ×2 + 7.13sWARNros2_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 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118506 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118506 ms (missed cycles : 4).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438511 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438511 ms (missed cycles : 3).[0m ×2 + 8.65sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.04sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.11sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.24sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982762 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982762 ms (missed cycles : 2).[0m ×2 + 9.65sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 10.02sINFOobjective_server_nodeFound path in 33 iterations (0.0313094 s). ×2 + 10.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 10.52sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776108 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776108 ms (missed cycles : 2).[0m ×2 + 11.17sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315269 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315269 ms (missed cycles : 2).[0m ×2 + 11.99sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655169 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655169 ms (missed cycles : 2).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888984 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888984 ms (missed cycles : 2).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595372 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595372 ms (missed cycles : 2).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.285ms + 15.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.038ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470057 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470057 ms (missed cycles : 2).[0m ×2 + 16.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.536ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213029 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213029 ms (missed cycles : 2).[0m ×2 + 17.70sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 17.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 17.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.770ms + 17.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788876077.17981601 seconds ×3 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656409 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656409 ms (missed cycles : 3).[0m ×2 + 18.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 18.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876077.79420233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.59sINFOmove_groupClearing octomap...[0m ×2 + 18.59sINFOmove_groupOctomap cleared.[0m ×2 + 18.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.709ms + 19.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876078.34435248 seconds ×3 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895446 ms (missed cycles : 3). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895446 ms (missed cycles : 3).[0m ×2 + 19.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.68sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 19.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876078.91559863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788876079.38577628 seconds ×3 + 20.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122001 ms (missed cycles : 2). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122001 ms (missed cycles : 2).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468412 ms (missed cycles : 3). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468412 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 83 warnings · 156 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098537 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098537 ms (missed cycles : 4).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937135 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937135 ms (missed cycles : 2).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140248 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140248 ms (missed cycles : 3).[0m ×2 + 2.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788875922.24076200 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971768 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971768 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788875922.81618619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.195ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698655 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698655 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628155 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628155 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677517 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677517 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409946 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409946 ms (missed cycles : 3).[0m ×2 + 8.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 8.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.481ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510178 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510178 ms (missed cycles : 3).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.881ms + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837110 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837110 ms (missed cycles : 2).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.208ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629935 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629935 ms (missed cycles : 3).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 11.29sWARNros2_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 + 11.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.679ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642340 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642340 ms (missed cycles : 3).[0m ×2 + 11.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 12.37sINFOamclParticle filter update iteration stats: 2732 particles 723 points - 8.163ms + 12.88sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.325ms + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284669 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284669 ms (missed cycles : 2).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.466ms + 13.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.78sINFOjoint_trajectory_controllerGot request to cancel goal + 13.78sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.78sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788875932.93944645 seconds ×3 + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 13.92sWARNlocal_costmap.local_costmapSensor origin at (-0.54, 2.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.92sWARNlocal_costmap.local_costmapSensor origin at (-1.44, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821980 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821980 ms (missed cycles : 2).[0m ×2 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788875933.52198505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.267ms + 14.79sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244370 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244370 ms (missed cycles : 2).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376752 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376752 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.5s | 108 errors · 36 warnings · 516 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470057 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470057 ms (missed cycles : 2).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.536ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213029 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213029 ms (missed cycles : 2).[0m ×2 + 1.58sWARNros2_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 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.770ms + 1.84sINFOjoint_trajectory_controllerGoal reached, success! + 1.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788876077.17981601 seconds ×3 + 1.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656409 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656409 ms (missed cycles : 3).[0m ×2 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.41sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.41sINFOobjective_server_nodecaller: ×4 + 2.41sINFOobjective_server_nodetype: 0 ×4 + 2.41sINFOobjective_server_nodename: "" ×4 + 2.41sINFOobjective_server_nodeinstance_id: "" ×4 + 2.41sINFOobjective_server_node ×4 + 2.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876077.79420233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.709ms + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876078.34435248 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895446 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895446 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876078.91559863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788876079.38577628 seconds ×3 + 4.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122001 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122001 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468412 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468412 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971080 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971080 ms (missed cycles : 2).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090619 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090619 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025504 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025504 ms (missed cycles : 2).[0m ×2 + 9.61sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.64sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORweb_video_auth_proxy-38process has died [pid 7786, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.64sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.65sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.66sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.66sERRORweb_bridge_auth_proxy-37process has died [pid 7784, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.66sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 9.67sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 9.68sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 9.69sINFOvideo_server-36process has finished cleanly [pid 7781] ×2 + 9.69sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 9.70sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.71sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682819 ms (missed cycles : 2). + 9.72sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 9.73sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 9.74sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 9.75sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 9.76sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 9.77sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 9.79sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 9.79sINFOcontroller_managerShutdown request received.... + 9.79sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.79sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.79sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.79sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.79sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.79sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.79sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.79sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.79sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.79sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.79sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.79sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.79sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.79sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.79sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.79sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.79sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.79sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.79sINFOcontroller_managerShutting down the controller manager. + 9.80sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 9.81sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 9.81sERRORmove_group-24process has died [pid 7739, 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_a7als2ql --params-file /tmp/launch_params_us514f4i --params-file /tmp/launch_params_yjhcy72t --params-file /tmp/launch_params_ynm3vxe0 --params-file /tmp/launch_params_0jsw9emi --params-file /tmp/launch_params_mq1j9iz2']. ×2 + 9.82sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 9.83sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 9.84sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 9.85sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 9.86sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 9.87sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 9.88sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.89sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 9.89sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 9.89sINFOmap_serverDeactivating + 9.89sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 9.90sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 9.90sINFOmap_serverCleaning up + 9.90sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 9.90sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 9.90sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 9.90sINFOcontroller_serverDeactivating + 9.90sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 9.90sINFOlocal_costmap.local_costmapDeactivating + 9.90sINFOvideo_server2026/09/08 14:01:24 INF shutting down gracefully ×2 + 9.90sINFOvideo_server2026/09/08 14:01:24 INF [WebRTC] closing ×2 + 9.90sINFOvideo_server2026/09/08 14:01:24 INF [RTSP] closing ×2 + 9.90sINFOvideo_server2026/09/08 14:01:24 INF waiting for running hooks ×2 + 9.90sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.90sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.90sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682819 ms (missed cycles : 2).[0m ×2 + 9.90sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.90sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.90sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.90sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 9.90sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.90sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.90sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.90sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.90sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.90sERRORmove_groupStack trace (most recent call last) in thread 8397: ×2 + 9.90sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.90sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffac8dc1a63, in __clone ×2 + 9.90sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffac8d34aa3, in ×2 + 9.90sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffac8fc6db3, in ×2 + 9.90sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7ffac972ba94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.90sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ffac9358620, in rclcpp::Rate::sleep() ×2 + 9.90sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ffac929ad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.90sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ffac925c087, in ×2 + 9.90sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffac8f95390, in __cxa_throw ×2 + 9.90sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffac8f7fa54, in std::terminate() ×2 + 9.90sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffac8f950d9, in ×2 + 9.90sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffac8f7fff4, in ×2 + 9.90sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffac8cc08fe, in abort ×2 + 9.90sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffac8cdd27d, in raise ×2 + 9.90sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffac8d36b2c, in pthread_kill ×2 + 9.90sERRORmove_groupAborted (Signal sent by tkill() 7739 0) ×2 + 9.91sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.91sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.91sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.91sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.91sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.91sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.91sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 9.91sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 9.91sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 9.91sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 9.91sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.91sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.91sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.91sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.91sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.91sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.91sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.91sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 9.91sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 9.91sINFOodom_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 + 9.91sINFOodom_qos_relay.pymain() ×2 + 9.91sINFOodom_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 + 9.91sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 9.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 9.91sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 9.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 9.91sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 9.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 9.91sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 9.91sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 9.91sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 9.91sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 9.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 9.91sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 9.91sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 9.91sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.91sERRORamclThe bond connection to the lifecycle manager has been broken + 9.92sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.93sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 9.93sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.93sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 9.94sINFOcontroller_serverCleaning up + 9.94sINFOlocal_costmap.local_costmapCleaning up + 9.98sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 9.98sINFOsmoother_serverDeactivating + 9.98sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 9.98sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 9.98sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 9.98sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 9.98sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 9.98sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 9.98sINFOvelocity_smootherDeactivating + 9.98sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 9.99sINFOsmoother_serverCleaning up + 10.01sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.01sINFOplanner_serverDeactivating + 10.01sINFOglobal_costmap.global_costmapDeactivating + 10.11sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.11sINFOwaypoint_followerDeactivating + 10.11sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.14sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.14sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.15sINFOplanner_serverCleaning up + 10.17sINFOglobal_costmap.global_costmapCleaning up + 10.18sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.18sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.22sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.22sINFObehavior_serverDeactivating + 10.22sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.23sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.23sINFObt_navigatorDeactivating + 10.23sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.23sINFObehavior_serverCleaning up + 10.23sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.23sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.23sINFOwaypoint_followerCleaning up + 10.24sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.24sINFOvelocity_smootherCleaning up + 10.24sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.34sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.34sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.34sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.34sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.34sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.34sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.34sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.34sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.34sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.34sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.34sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.34sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.34sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.35sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.35sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.36sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.36sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.36sINFObt_navigatorCleaning up + 10.54sINFObt_navigatorCompleted Cleaning up + 10.54sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.54sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.54sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.54sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.54sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.54sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.55sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.55sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.55sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.72sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7780] ×2 + 10.72sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 10.79sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7773] ×2 + 10.80sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7772] ×2 + 10.81sINFOui_teleop_bridge-33process has finished cleanly [pid 7778] ×2 + 10.81sINFOexecute_objective_bridge-32process has finished cleanly [pid 7777] ×2 + 10.82sINFOcomponent_container_mt-31process has finished cleanly [pid 7776] ×2 + 10.84sINFOparameter_manager_node-25process has finished cleanly [pid 7769] ×2 + 10.85sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7702] ×2 + 10.86sERRORcomponent_container_isolated-1process has died [pid 7611, 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_c9v5q6mf --params-file /tmp/launch_params__4u4vyu_ -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.86sINFOwaypoint_manager_node-26process has finished cleanly [pid 7771] ×2 + 10.86sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7701] ×2 + 10.87sINFOstatic_transform_publisher-9process has finished cleanly [pid 7619] ×2 + 10.88sINFOstatic_transform_publisher-8process has finished cleanly [pid 7618] ×2 + 10.88sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 10.88sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 10.88sINFOlidar_flattener.pymain() ×2 + 10.88sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 10.88sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 10.88sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.88sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 10.88sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.89sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 10.89sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.89sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.89sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.89sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.89sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 10.89sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.89sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.89sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 10.89sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 10.90sINFOobjective_server_node[2026-09-08 14:01:26.215] [moveit_pro_license] [critical] ×2 + 10.90sINFOobjective_server_node************************************************* ×4 + 10.90sINFOobjective_server_node* MoveIt Pro License ×2 + 10.90sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 10.91sINFOstatic_transform_publisher-4process has finished cleanly [pid 7614] ×2 + 10.92sINFOstatic_transform_publisher-3process has finished cleanly [pid 7613] ×2 + 10.93sERRORlidar_flattener.py-7process has died [pid 7617, 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_y1we495s']. ×2 + 10.96sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7616] ×2 + 10.96sERRORodom_qos_relay.py-5process has died [pid 7615, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 10.97sINFOobjective_server_node_main-29process has finished cleanly [pid 7774] ×2 + 10.97sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.23sERRORcomponent_container_isolated-2process has died [pid 7612, 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_c9v5q6mf --params-file /tmp/launch_params_v9u4163u -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.91sINFOcomponent_container_mt-30process has finished cleanly [pid 7775] ×2 + 12.45sINFOros2_control_node-12process has finished cleanly [pid 7703] ×2 + 12.45sINFOweb_bridge-34process has finished cleanly [pid 7779] ×2 + 12.46sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 63 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4).[0m ×2 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.81sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788875831.89872241 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788875832.48017097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.766ms + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2).[0m ×2 + 7.12sWARNros2_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 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118952 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118952 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919995 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919995 ms (missed cycles : 2).[0m ×2 + 9.16sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788875838.22032785 seconds ×3 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283335 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283335 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407419 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407419 ms (missed cycles : 2).[0m ×2 + 10.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788875839.79515576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370342 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370342 ms (missed cycles : 2).[0m ×2 + 11.70sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600438 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600438 ms (missed cycles : 2).[0m ×2 + 13.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 56 warnings · 138 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059723 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059723 ms (missed cycles : 3).[0m ×2 + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442092 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442092 ms (missed cycles : 3).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.017ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020958 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020958 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.82sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788875997.91215467 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788875998.48768353 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 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900377 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900377 ms (missed cycles : 4).[0m ×2 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.590ms + 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 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193937 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193937 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805584 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805584 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3).[0m ×2 + 9.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788876004.28782630 seconds ×3 + 9.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3).[0m ×2 + 9.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788876004.86923528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.14sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.23sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3).[0m ×2 + 12.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.0s | 40 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935133 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935133 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135160 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135160 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343998 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343998 ms (missed cycles : 3).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.15sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788875768.93128681 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788875769.51307106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789428 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789428 ms (missed cycles : 2).[0m ×2 + 3.23sWARNros2_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (2.344e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 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 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182202 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182202 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 6.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195016 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195016 ms (missed cycles : 2).[0m ×2 + 6.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 7.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630397 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630397 ms (missed cycles : 2).[0m ×2 + 7.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 8.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788875774.97320795 seconds ×3 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711995 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711995 ms (missed cycles : 2).[0m ×2 + 8.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 8.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.77sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788875775.54858756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.23sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.457ms + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670562 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670562 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824094 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824094 ms (missed cycles : 2).[0m ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290809 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290809 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 28 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595372 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595372 ms (missed cycles : 2).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.285ms + 0.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.038ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470057 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470057 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.536ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213029 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213029 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_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 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.770ms + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788876077.17981601 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656409 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656409 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876077.79420233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.73sINFOmove_groupClearing octomap...[0m ×2 + 3.73sINFOmove_groupOctomap cleared.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.709ms + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876078.34435248 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895446 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895446 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876078.91559863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788876079.38577628 seconds ×3 + 5.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122001 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122001 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468412 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468412 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971080 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971080 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 20 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.60sINFOmove_groupClearing octomap...[0m ×2 + 0.60sINFOmove_groupOctomap cleared.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 2.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 4.48sINFOjoint_trajectory_controllerReceived new action goal + 4.48sINFOjoint_trajectory_controllerAccepted new action goal + 4.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935133 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935133 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135160 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135160 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343998 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343998 ms (missed cycles : 3).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! + 2.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788875768.93128681 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788875769.51307106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789428 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789428 ms (missed cycles : 2).[0m ×2 + 3.23sWARNros2_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (2.344e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOjoint_trajectory_controllerReceived new action goal + 3.88sINFOjoint_trajectory_controllerAccepted new action goal + 3.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182202 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182202 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935133 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935133 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135160 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135160 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343998 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343998 ms (missed cycles : 3).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! + 2.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788875768.93128681 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788875769.51307106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789428 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789428 ms (missed cycles : 2).[0m ×2 + 3.23sWARNros2_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (2.344e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOjoint_trajectory_controllerReceived new action goal + 3.88sINFOjoint_trajectory_controllerAccepted new action goal + 3.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182202 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182202 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 23 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.00sINFOobjective_server_nodecaller: ×10 + 3.00sINFOobjective_server_nodetype: 0 ×10 + 3.00sINFOobjective_server_nodename: "" ×10 + 3.00sINFOobjective_server_nodeinstance_id: "" ×10 + 3.00sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_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 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.59sINFOros2_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 2.830330 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 23 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832275 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195016 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195016 ms (missed cycles : 2).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630397 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630397 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788875774.97320795 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 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_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 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711995 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711995 ms (missed cycles : 2).[0m ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×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 `Generate Grid Pattern on Airplane` starting at time: 1788875775.54858756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.00sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.457ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670562 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670562 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824094 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824094 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290809 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290809 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4).[0m ×2 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788875831.89872241 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788875832.48017097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.766ms + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4).[0m ×2 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788875831.89872241 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788875832.48017097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.766ms + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4).[0m ×2 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788875831.89872241 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788875832.48017097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.766ms + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 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 | 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4).[0m ×2 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788875831.89872241 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788875832.48017097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.766ms + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544743 ms (missed cycles : 4).[0m ×2 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475262 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898534 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788875831.89872241 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198714 ms (missed cycles : 3).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788875832.48017097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.766ms + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535588 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771701 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198947 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 38 warnings · 74 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2).[0m ×2 + 1.68sWARNros2_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 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788875870.74530315 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788875871.32066774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.233ms + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 38 warnings · 74 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2).[0m ×2 + 1.68sWARNros2_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 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788875870.74530315 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788875871.32066774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.233ms + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_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 |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537325 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790411 ms (missed cycles : 2).[0m ×2 + 1.68sWARNros2_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 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696183 ms (missed cycles : 5).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788875870.74530315 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788875871.32066774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562562 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.233ms + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718025 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526070 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 23 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.00sINFOobjective_server_nodecaller: ×10 + 3.00sINFOobjective_server_nodetype: 0 ×10 + 3.00sINFOobjective_server_nodename: "" ×10 + 3.00sINFOobjective_server_nodeinstance_id: "" ×10 + 3.00sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_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 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.59sINFOros2_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 2.830330 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788876004.28782630 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788876004.86923528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNros2_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 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 23 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.00sINFOobjective_server_nodecaller: ×10 + 3.00sINFOobjective_server_nodetype: 0 ×10 + 3.00sINFOobjective_server_nodename: "" ×10 + 3.00sINFOobjective_server_nodeinstance_id: "" ×10 + 3.00sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_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 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.59sINFOros2_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 2.830330 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788876004.28782630 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788876004.86923528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNros2_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 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788876004.28782630 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788876004.86923528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNros2_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 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788876004.28782630 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788876004.86923528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNros2_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 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788876004.28782630 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788876004.86923528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNros2_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 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788876004.28782630 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788876004.86923528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNros2_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 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422509 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152624 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164548 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788876004.28782630 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564985 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788876004.86923528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sWARNros2_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 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234752 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230769 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 25 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595372 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595372 ms (missed cycles : 2).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.285ms + 0.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.038ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470057 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470057 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.536ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213029 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213029 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_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 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.770ms + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788876077.17981601 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656409 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656409 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876077.79420233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.73sINFOmove_groupClearing octomap...[0m ×2 + 3.73sINFOmove_groupOctomap cleared.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.709ms + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876078.34435248 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895446 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895446 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876078.91559863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788876079.38577628 seconds ×3 + 5.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122001 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122001 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468412 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468412 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 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/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.00sINFOobjective_server_nodecaller: ×10 + 3.00sINFOobjective_server_nodetype: 0 ×10 + 3.00sINFOobjective_server_nodename: "" ×10 + 3.00sINFOobjective_server_nodeinstance_id: "" ×10 + 3.00sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_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 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.59sINFOros2_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 2.830330 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 25 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 2.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 2.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.34sINFOobjective_server_nodecaller: ×10 + 3.34sINFOobjective_server_nodetype: 0 ×10 + 3.34sINFOobjective_server_nodename: "" ×10 + 3.34sINFOobjective_server_nodeinstance_id: "" ×10 + 3.34sINFOobjective_server_node ×10 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 5.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 6.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 22 warnings · 300 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 2.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 2.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.34sINFOobjective_server_nodecaller: ×10 + 3.34sINFOobjective_server_nodetype: 0 ×10 + 3.34sINFOobjective_server_nodename: "" ×10 + 3.34sINFOobjective_server_nodeinstance_id: "" ×10 + 3.34sINFOobjective_server_node ×10 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 5.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 23 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.00sINFOobjective_server_nodecaller: ×10 + 3.00sINFOobjective_server_nodetype: 0 ×10 + 3.00sINFOobjective_server_nodename: "" ×10 + 3.00sINFOobjective_server_nodeinstance_id: "" ×10 + 3.00sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_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 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.59sINFOros2_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 2.830330 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 23 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.00sINFOobjective_server_nodecaller: ×10 + 3.00sINFOobjective_server_nodetype: 0 ×10 + 3.00sINFOobjective_server_nodename: "" ×10 + 3.00sINFOobjective_server_nodeinstance_id: "" ×10 + 3.00sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_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 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.59sINFOros2_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 2.830330 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 23 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182892 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.00sINFOobjective_server_nodecaller: ×10 + 3.00sINFOobjective_server_nodetype: 0 ×10 + 3.00sINFOobjective_server_nodename: "" ×10 + 3.00sINFOobjective_server_nodeinstance_id: "" ×10 + 3.00sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_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 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.59sINFOros2_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 2.830330 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 20 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 23 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606288 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378416 ms (missed cycles : 3).[0m ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.65sINFOobjective_server_nodecaller: ×10 + 1.66sINFOobjective_server_nodetype: 0 ×10 + 1.66sINFOobjective_server_nodename: "" ×10 + 1.66sINFOobjective_server_nodeinstance_id: "" ×10 + 1.66sINFOobjective_server_node ×10 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875723.48696947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875723.49718261 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654300 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875724.07431793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875724.08443642 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875724.65173316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875724.80227757 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436522 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875725.39489436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875725.46503162 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788875726.03352094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830330 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047299 ms (missed cycles : 4).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408046 ms (missed cycles : 3).[0m ×2 | ||||