75
Total objective tests
18
Objectives passed
0
Objectives failed
57
Objectives skipped
21.7s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.2s | 12 errors · 318 warnings · 1543 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/2026-09-08-14-25-30-227265-ed8ddb50fea9-7561 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.28sINFOstatic_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' + 4.28sINFOstatic_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' + 4.28sINFOstatic_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' + 4.29sINFOstatic_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' + 4.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.54sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.58sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.58sINFOros2_control_node-12process started with pid [7703] ×2 + 4.58sINFOmove_group-24process started with pid [7739] ×2 + 4.58sINFOparameter_manager_node-25process started with pid [7766] ×2 + 4.58sINFOwaypoint_manager_node-26process started with pid [7767] ×2 + 4.58sINFOmove_joint_resampler_node-27process started with pid [7768] ×2 + 4.58sINFOmove_end_effector_resampler_node-28process started with pid [7769] ×2 + 4.58sINFOobjective_server_node_main-29process started with pid [7770] ×2 + 4.58sINFOcomponent_container_mt-30process started with pid [7771] ×2 + 4.58sINFOcomponent_container_mt-31process started with pid [7772] ×2 + 4.58sINFOexecute_objective_bridge-32process started with pid [7773] ×2 + 4.58sINFOui_teleop_bridge-33process started with pid [7778] ×2 + 4.59sINFOweb_bridge-34process started with pid [7781] ×2 + 4.59sINFOtf2_web_republisher_node-35process started with pid [7782] ×2 + 4.59sINFOvideo_server-36process started with pid [7785] ×2 + 4.59sINFOweb_bridge_auth_proxy-37process started with pid [7790] ×2 + 4.59sINFOweb_video_auth_proxy-38process started with pid [7793] ×2 + 4.59sINFOcomponent_container_isolated-1process started with pid [7611] ×2 + 4.59sINFOcomponent_container_isolated-2process started with pid [7612] ×2 + 4.59sINFOstatic_transform_publisher-3process started with pid [7613] ×2 + 4.59sINFOstatic_transform_publisher-4process started with pid [7614] ×2 + 4.59sINFOodom_qos_relay.py-5process started with pid [7615] ×2 + 4.59sINFOforward_stereo_publisher.py-6process started with pid [7616] ×2 + 4.59sINFOlidar_flattener.py-7process started with pid [7617] ×2 + 4.59sINFOstatic_transform_publisher-8process started with pid [7618] ×2 + 4.59sINFOstatic_transform_publisher-9process started with pid [7619] ×2 + 4.59sINFOscan_to_scan_filter_chain-10process started with pid [7701] ×2 + 4.59sINFOscan_to_scan_filter_chain-11process started with pid [7702] ×2 + 4.59sINFOros2-13process started with pid [7704] ×2 + 4.59sINFOros2-14process started with pid [7705] ×2 + 4.59sINFOros2-15process started with pid [7706] ×2 + 4.59sINFOros2-16process started with pid [7707] ×2 + 4.59sINFOros2-17process started with pid [7708] ×2 + 4.59sINFOros2-18process started with pid [7709] ×2 + 4.59sINFOros2-19process started with pid [7714] ×2 + 4.59sINFOros2-20process started with pid [7719] ×2 + 4.59sINFOros2-21process started with pid [7727] ×2 + 4.59sINFOros2-22process started with pid [7736] ×2 + 4.59sINFOros2-23process started with pid [7738] ×2 + 4.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.64sINFOcontroller_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. + 4.64sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.64sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.64sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.64sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.64sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.64sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.65sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.65sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.65sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.65sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.65sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.65sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.65sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.66sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.67sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.67sINFOcontroller_managerupdate rate is 600 Hz + 4.67sINFOcontroller_managerOverruns handling is : enabled + 4.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.67sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.67sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.67sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.68sWARNcontroller_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. + 4.69sWARNros2_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 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.919705 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.919705 ms (missed cycles : 6).[0m ×2 + 4.74sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.74sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.74sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.75sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.75sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.76sINFOcontroller_serverCreating controller server + 4.79sINFOmap_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. + 4.79sINFOmap_serverCreating + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.80sINFOrobot_state_publisherRobot initialized + 4.80sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.80sINFOcontroller_managerReceived robot description from topic. + 4.80sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.80sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.81sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.81sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.82sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.82sINFOlocal_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. + 4.83sINFOlocal_costmap.local_costmapCreating Costmap + 4.83sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.84sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.85sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.89sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.89sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.89sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.91sINFOsmoother_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. + 4.93sINFOlifecycle_manager_localizationCreating + 4.94sINFOsmoother_serverCreating smoother server + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.96sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.97sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.97sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.97sINFOmap_serverConfiguring + 5.01sINFOplanner_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. + 5.03sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.03sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.04sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.04sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.04sINFOplanner_serverCreating + 5.06sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.07sINFOvideo_server2026/09/08 14:25:36 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.07sINFOamclConfiguring + 5.07sINFOvideo_server2026/09/08 14:25:36 INF configuration loaded from /tmp/moveit-webrtc-x1q0gyaq/mediamtx.yml ×2 + 5.07sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.07sINFOmap_serverActivating + 5.07sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.08sINFOvideo_server2026/09/08 14:25:36 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.08sINFOvideo_server2026/09/08 14:25:36 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.08sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.08sINFOglobal_costmap.global_costmapCreating Costmap + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.16sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.20sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.20sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.20sINFOamclActivating + 5.20sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.20sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.20sINFOamclSubscribed to map_topic: /map + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.21sINFOamclSubscribed to scan_topic: /scan_merged + 5.21sINFOamclCreated reinitialize_global_localization service + 5.22sINFOamclCreated request_nomotion_update service + 5.22sINFOamclA new map was received + 5.22sINFOamclInitializing particle filter instance + 5.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.24sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.299299 seconds + 5.24sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.24sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.24sINFOmove_groupLoaded robot model in 0.299299 seconds[0m ×2 + 5.24sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.24sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.29sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.34sINFObt_navigatorCreating + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.41sWARNlaser_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. + 5.41sWARNscan_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 + 5.41sINFOwaypoint_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. + 5.42sWARNlaser_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. + 5.42sINFOwaypoint_followerCreating + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.49sINFOvelocity_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. + 5.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.56sINFOlifecycle_manager_navigationCreating + 5.57sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.62sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.62sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.62sINFOcontroller_serverConfiguring controller interface + 5.62sINFOcontroller_servergetting progress checker plugins.. + 5.62sINFOcontroller_servergetting goal checker plugins.. + 5.62sINFOcontroller_serverController frequency set to 20.0000Hz + 5.62sINFOlocal_costmap.local_costmapConfiguring + 5.64sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.67sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.71sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.71sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.72sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.76sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.77sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.77sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.77sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.77sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.78sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.79sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.82sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.84sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.84sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.85sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.85sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.86sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.87sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.88sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.88sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.89sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.89sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.89sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.89sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.89sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.90sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.90sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.90sINFOcontroller_serverOptimizer reset ×2 + 5.92sINFOcontroller_serverController Server has FollowPath controllers available. + 5.94sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.95sINFOsmoother_serverConfiguring smoother server + 5.98sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.99sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.01sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.01sINFOplanner_serverConfiguring + 6.01sINFOglobal_costmap.global_costmapConfiguring + 6.03sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.04sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.04sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.04sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.04sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.06sINFOamclParticle filter initialization completed + 6.06sINFOamclInitializing particles from estimated pose and covariance + 6.06sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.06sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.07sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.08sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.10sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.10sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.10sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.11sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.11sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.11sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.12sINFOplanner_serverPlanner Server has GridBased planners available. + 6.13sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.13sINFObehavior_serverConfiguring + 6.15sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.15sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944186 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944186 ms (missed cycles : 2).[0m ×2 + 6.15sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.15sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.16sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.16sINFObehavior_serverConfiguring spin + 6.17sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.18sINFObehavior_serverConfiguring backup + 6.19sINFObehavior_serverConfiguring drive_on_heading + 6.20sINFObehavior_serverConfiguring assisted_teleop + 6.22sINFObehavior_serverConfiguring wait + 6.23sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.23sINFObt_navigatorConfiguring + 6.24sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.25sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.29sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.29sWARNmove_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. + 6.29sWARNmove_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. + 6.30sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.30sWARNmove_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 + 6.30sWARNmove_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. + 6.30sWARNmove_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 + 6.30sWARNmove_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. + 6.30sWARNmove_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 + 6.30sWARNmove_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 + 6.30sWARNmove_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. + 6.30sWARNmove_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 + 6.30sWARNmove_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. + 6.30sWARNmove_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 + 6.30sWARNmove_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. + 6.30sWARNmove_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 + 6.30sWARNmove_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. + 6.30sWARNmove_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 + 6.30sWARNmove_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. + 6.30sWARNmove_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. + 6.30sWARNmove_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 + 6.30sWARNmove_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 + 6.38sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.38sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.38sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.38sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.40sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.40sINFOwaypoint_manager_nodeLoaded robot model in 0.381006 seconds[0m ×2 + 6.40sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.40sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.42sINFOros2_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 + 6.43sINFOros2_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 + 6.44sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.44sINFOwaypoint_followerConfiguring + 6.45sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.46sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.46sINFOvelocity_smootherConfiguring velocity smoother + 6.46sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.46sINFOcontroller_serverActivating + 6.46sINFOlocal_costmap.local_costmapActivating + 6.46sINFOlocal_costmap.local_costmapChecking transform + 6.46sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×6 + 6.52sINFOmove_group[2026-09-08 14:25:38.427] [moveit_pro_license] [info] ×2 + 6.52sINFOmove_group************************************************* ×4 + 6.52sINFOmove_group* MoveIt Pro License ×2 + 6.52sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.02sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.02sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.02sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.02sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.02sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.02sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.02sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.02sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.02sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.02sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.03sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.03sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.03sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.03sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.03sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.03sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.03sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.03sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.03sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.03sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.03sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.03sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.13sINFOwaypoint_manager_node[2026-09-08 14:25:39.037] [moveit_pro_license] [info] ×2 + 7.13sINFOwaypoint_manager_node************************************************* ×4 + 7.13sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.13sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.31sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.31sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.31sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.31sWARNros2_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 + 7.31sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.31sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.31sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.31sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.31sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.31sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.31sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.31sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.31sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.31sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.31sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.31sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.31sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.31sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.31sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.31sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.31sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.31sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.31sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.31sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.31sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.31sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680801 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680801 ms (missed cycles : 2).[0m ×2 + 7.48sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.48sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.53sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.53sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 7.53sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.53sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.66sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.67sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 7.68sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 7.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.70sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.72sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 7.72sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 7.72sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 7.72sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 7.73sINFOros2_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 + 7.73sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.73sWARNros2_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 + 7.83sINFOobjective_server_node[2026-09-08 14:25:39.731] [moveit_pro_license] [info] ×2 + 7.83sINFOobjective_server_node************************************************* ×4 + 7.83sINFOobjective_server_node* MoveIt Pro License ×2 + 7.83sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.87sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.89sWARNcomponent_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 + 7.92sINFOobjective_server_nodeLoaded robot model in 0.0374145 seconds[0m ×2 + 7.92sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.92sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.00sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.28sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.28sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.29sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.29sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.29sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.29sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.29sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.29sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.29sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.29sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.29sINFOstreaming_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) + 8.29sINFOcomponent_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 + 8.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.30sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.31sINFOcomponent_container_mtLoaded robot model in 0.417929 seconds[0m ×2 + 8.31sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.31sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.44sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.46sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.46sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.46sWARNobjective_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. + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.54sINFOros2_control_node[2026-09-08 14:25:40.446] [info] Controller state will be published at 20 Hz. ×2 + 8.54sINFOros2_control_node[2026-09-08 14:25:40.447] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.57sINFOobjective_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 + 8.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914775 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914775 ms (missed cycles : 2).[0m ×2 + 8.60sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.60sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.60sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.60sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.60sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.60sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.60sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.63sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.63sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.65sINFOstreaming_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) + 8.65sINFOcomponent_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 + 8.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.66sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.73sWARNplanning_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. + 8.73sWARNplanning_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. + 8.73sWARNcomponent_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 + 8.73sWARNcomponent_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 + 8.73sWARNplanning_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. + 8.73sWARNplanning_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. + 8.73sWARNcomponent_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 + 8.73sWARNcomponent_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 + 8.73sWARNplanning_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. + 8.73sWARNplanning_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. + 8.73sWARNcomponent_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 + 8.73sWARNcomponent_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 + 8.73sWARNplanning_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. + 8.73sWARNplanning_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. + 8.73sWARNcomponent_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 + 8.73sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNplanning_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. + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNcomponent_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 + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.74sWARNcomponent_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 + 8.74sWARNplanning_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. + 8.75sWARNplanning_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. + 8.75sWARNcomponent_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 + 8.75sWARNplanning_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. + 8.75sWARNcomponent_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 + 8.75sWARNplanning_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. + 8.75sWARNplanning_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. + 8.75sWARNcomponent_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 + 8.75sWARNcomponent_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 + 8.75sWARNcomponent_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 + 8.75sWARNcomponent_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 + 8.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.86sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.86sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.86sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.88sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 8.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 8.90sINFOros2-23process has finished cleanly [pid 7738] ×2 + 8.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.96sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.97sINFOcomponent_container_mt[2026-09-08 14:25:40.874] [moveit_pro_license] [info] ×2 + 8.97sINFOcomponent_container_mt************************************************* ×4 + 8.97sINFOcomponent_container_mt* MoveIt Pro License ×2 + 8.97sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.11sINFOmove_groupMoveGroup debug mode is ON + 9.11sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.15sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.15sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 9.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 9.27sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 9.27sINFOmove_group ×8 + 9.27sINFOmove_group******************************************************** ×4 + 9.27sINFOmove_group* MoveGroup using: ×2 + 9.27sINFOmove_group* - apply_planning_scene_service ×2 + 9.27sINFOmove_group* - clear_octomap_service ×2 + 9.27sINFOmove_group* - get_group_urdf ×2 + 9.27sINFOmove_group* - load_geometry_from_file ×2 + 9.27sINFOmove_group* - get_planning_scene_service ×2 + 9.27sINFOmove_group* - kinematics_service ×2 + 9.27sINFOmove_group* - save_geometry_to_file ×2 + 9.27sINFOmove_group* - GetPlanningGroups ×2 + 9.27sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.27sINFOmove_group[0m ×2 + 9.28sINFOmove_group[92mYou can start planning now![0m ×2 + 9.31sINFOros2-15process has finished cleanly [pid 7706] ×2 + 9.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 9.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 9.39sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 9.39sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 9.41sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.41sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.41sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 9.41sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.46sINFOlocal_costmap.local_costmapstart + 9.56sWARNcontroller_serverParameter controller_server.verbose not found + 9.57sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.57sWARNros2_control_nodeCamera render tick took 1.08 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.60sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.60sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.61sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.61sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470928 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470928 ms (missed cycles : 2).[0m ×2 + 9.67sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.67sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.68sINFOsmoother_serverActivating + 9.68sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.76sWARNobjective_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 + 9.78sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.78sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.78sINFOplanner_serverActivating + 9.78sINFOglobal_costmap.global_costmapActivating + 9.78sINFOglobal_costmap.global_costmapChecking transform + 9.78sINFOglobal_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. + 9.82sINFOros2_control_node[2026-09-08 14:25:41.729] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.83sINFOros2_control_node[2026-09-08 14:25:41.732] [info] Controller state will be published at 10 Hz. ×2 + 9.83sINFOros2_control_node[2026-09-08 14:25:41.733] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.90sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788877540.399 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.14sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.14sINFOcontroller_managerLoading controller 'velocity_force_controller' + 10.14sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 10.14sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 10.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 10.17sINFOros2-21process has finished cleanly [pid 7727] ×2 + 10.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 6.478ms + 10.21sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 10.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 10.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 10.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 10.28sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788877542.149524, but only time 1788877542.532779 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 10.60sINFOros2_control_node[2026-09-08 14:25:42.500] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.60sINFOros2_control_node[2026-09-08 14:25:42.502] [info] Controller state will be published at 10 Hz. ×2 + 10.60sINFOros2_control_node[2026-09-08 14:25:42.503] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.63sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788877540.399 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182148 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182148 ms (missed cycles : 2).[0m ×2 + 10.78sINFOglobal_costmap.global_costmapstart + 10.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.90sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.90sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.90sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.91sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 10.91sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 10.95sINFOros2-20process has finished cleanly [pid 7719] ×2 + 10.97sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.97sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.97sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.97sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.97sINFOplatform_velocity_controllerconfigure successful + 10.97sINFOros2_control_nodeconfigure successful[0m ×6 + 10.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.98sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.98sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.02sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.29sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.29sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.29sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.29sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.29sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 11.29sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 11.32sINFOros2-16process has finished cleanly [pid 7707] ×2 + 11.36sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.36sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.36sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.36sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.37sINFOplatform_velocity_controller_nav2configure successful + 11.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.69sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 11.69sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 11.72sINFOros2-18process has finished cleanly [pid 7709] ×2 + 11.79sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620487 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620487 ms (missed cycles : 2).[0m ×2 + 11.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.81sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.81sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.81sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.81sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.81sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.81sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.81sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.82sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.83sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.83sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.94sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.94sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.94sINFObehavior_serverActivating + 11.94sINFObehavior_serverActivating spin + 11.94sINFObehavior_serverActivating backup + 11.94sINFObehavior_serverActivating drive_on_heading + 11.94sINFObehavior_serverActivating assisted_teleop + 11.94sINFObehavior_serverActivating wait + 11.94sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.06sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 12.06sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 12.06sINFObt_navigatorActivating + 12.12sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 12.20sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.20sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.20sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.20sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.20sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 12.21sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 12.23sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 12.23sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 12.23sINFOwaypoint_followerActivating + 12.23sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 12.24sINFOros2-19process has finished cleanly [pid 7714] ×2 + 12.26sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.27sINFOforce_torque_sensor_broadcasterconfigure successful + 12.27sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.27sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.27sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.27sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.34sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 12.34sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 12.34sINFOvelocity_smootherActivating + 12.34sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.44sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.44sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.44sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.57sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.57sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.58sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.58sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.58sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 12.58sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 12.62sINFOros2-13process has finished cleanly [pid 7704] ×2 + 12.63sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.63sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.63sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.63sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.63sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.63sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.64sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.64sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910096 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910096 ms (missed cycles : 2).[0m ×2 + 12.98sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 12.98sINFOcontroller_managerLoading controller 'vacuum_gripper' + 12.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 12.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 12.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 12.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 12.99sINFOros2-14process has finished cleanly [pid 7705] ×2 + 13.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 13.03sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 13.03sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 13.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 13.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 13.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 13.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 13.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 13.04sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 13.05sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 13.05sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 13.37sINFOros2-17process has finished cleanly [pid 7708] ×2 + 13.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.38sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 13.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk + 13.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1lfvrmh1 --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_vpfr5xh6 --params-file /tmp/launch_params_x9ol7vrk [0m ×2 + 13.44sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 13.44sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 13.44sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.89sINFOros2_control_node[2026-09-08 14:25:45.799] [info] Controller state will be published at 20 Hz. ×2 + 13.90sINFOros2_control_node[2026-09-08 14:25:45.800] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612915 ms (missed cycles : 3). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612915 ms (missed cycles : 3).[0m ×2 + 13.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 13.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 13.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 13.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 13.97sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 13.97sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.23sINFOros2-22process has finished cleanly [pid 7736] ×2 + 14.99sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286726 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286726 ms (missed cycles : 2).[0m ×2 + 15.59sWARNros2_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 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 17.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 19.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.09sINFOobjective_server_nodecaller: ×10 + 19.09sINFOobjective_server_nodetype: 0 ×10 + 19.09sINFOobjective_server_nodename: "" ×10 + 19.09sINFOobjective_server_nodeinstance_id: "" ×10 + 19.09sINFOobjective_server_node ×10 + 19.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 19.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 19.13sINFOmove_groupClearing octomap...[0m ×4 + 19.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 19.13sINFOmove_groupOctomap cleared.[0m ×4 + 19.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 19.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 19.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 20.12sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 20.71sWARNros2_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 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 21.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.05sINFOobjective_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 + 21.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 21.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 21.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 21.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 21.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 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 | 65.7s | 3 errors · 295 warnings · 253 info |
+ 0.00sWARNros2_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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.937ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235053 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235053 ms (missed cycles : 3).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.979ms + 1.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020225 ms (missed cycles : 4). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020225 ms (missed cycles : 4).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.284ms + 2.41sINFOamclParticle filter update iteration stats: 3669 particles 723 points - 7.467ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155406 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155406 ms (missed cycles : 3).[0m ×2 + 2.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOjoint_trajectory_controllerGot request to cancel goal + 2.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.84sERRORobjective_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: 1788877762.00615644 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-0.43, 2.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-1.33, 2.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 2857 particles 723 points - 5.122ms + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788877762.59607697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.485ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905807 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905807 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113587 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113587 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136994 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136994 ms (missed cycles : 5).[0m ×2 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769490 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769490 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816190 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816190 ms (missed cycles : 3).[0m ×2 + 8.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.226ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377341 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377341 ms (missed cycles : 3).[0m ×2 + 9.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.804ms + 9.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.509ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114172 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114172 ms (missed cycles : 2).[0m ×2 + 10.27sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.257ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234551 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234551 ms (missed cycles : 3).[0m ×2 + 10.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 10.89sINFOamclParticle filter update iteration stats: 3107 particles 723 points - 6.451ms + 11.47sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 4.163ms + 12.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.382ms + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965661 ms (missed cycles : 3). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965661 ms (missed cycles : 3).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.678ms + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599270 ms (missed cycles : 4). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599270 ms (missed cycles : 4).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 13.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110829 ms (missed cycles : 2). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110829 ms (missed cycles : 2).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916912 ms (missed cycles : 3). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916912 ms (missed cycles : 3).[0m ×2 + 15.68sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 16.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 16.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281154 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281154 ms (missed cycles : 2).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566355 ms (missed cycles : 3). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566355 ms (missed cycles : 3).[0m ×2 + 18.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670623 ms (missed cycles : 4). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670623 ms (missed cycles : 4).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291765 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291765 ms (missed cycles : 2).[0m ×2 + 20.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358145 ms (missed cycles : 4). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358145 ms (missed cycles : 4).[0m ×2 + 21.21sWARNros2_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 + 21.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 21.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×8 + 21.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077666 ms (missed cycles : 2). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077666 ms (missed cycles : 2).[0m ×2 + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820456 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820456 ms (missed cycles : 2).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196464 ms (missed cycles : 2). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196464 ms (missed cycles : 2).[0m ×2 + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 24.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772551 ms (missed cycles : 3). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772551 ms (missed cycles : 3).[0m ×2 + 25.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 26.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.444ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757968 ms (missed cycles : 2). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757968 ms (missed cycles : 2).[0m ×2 + 26.76sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742687 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742687 ms (missed cycles : 2).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 27.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms ×2 + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912909 ms (missed cycles : 2). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912909 ms (missed cycles : 2).[0m ×2 + 28.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.200ms + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 29.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097988 ms (missed cycles : 4). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097988 ms (missed cycles : 4).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 30.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684650 ms (missed cycles : 3). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684650 ms (missed cycles : 3).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.568ms + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 31.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170777 ms (missed cycles : 3). + 31.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170777 ms (missed cycles : 3).[0m ×2 + 32.30sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656927 ms (missed cycles : 3). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656927 ms (missed cycles : 3).[0m ×2 + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.645ms + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837985 ms (missed cycles : 3). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837985 ms (missed cycles : 3).[0m ×2 + 34.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms ×2 + 34.49sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.49sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125815 ms (missed cycles : 2). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125815 ms (missed cycles : 2).[0m ×2 + 35.06sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.00sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909706 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909706 ms (missed cycles : 2).[0m ×2 + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897450 ms (missed cycles : 3). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897450 ms (missed cycles : 3).[0m ×2 + 37.50sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933991 ms (missed cycles : 3). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933991 ms (missed cycles : 3).[0m ×2 + 38.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 39.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594457 ms (missed cycles : 3). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594457 ms (missed cycles : 3).[0m ×2 + 39.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 40.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958587 ms (missed cycles : 2). + 40.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958587 ms (missed cycles : 2).[0m ×2 + 40.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 41.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483601 ms (missed cycles : 3). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483601 ms (missed cycles : 3).[0m ×2 + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302846 ms (missed cycles : 3). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302846 ms (missed cycles : 3).[0m ×2 + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895495 ms (missed cycles : 4). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895495 ms (missed cycles : 4).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.853663 ms (missed cycles : 5). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.853663 ms (missed cycles : 5).[0m ×2 + 45.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529785 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529785 ms (missed cycles : 3).[0m ×2 + 46.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763103 ms (missed cycles : 4). + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763103 ms (missed cycles : 4).[0m ×2 + 47.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289568 ms (missed cycles : 3). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289568 ms (missed cycles : 3).[0m ×2 + 48.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.718ms + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130811 ms (missed cycles : 3). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130811 ms (missed cycles : 3).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 49.71sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 50.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369473 ms (missed cycles : 6). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369473 ms (missed cycles : 6).[0m ×2 + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954650 ms (missed cycles : 5). + 51.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954650 ms (missed cycles : 5).[0m ×2 + 52.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816935 ms (missed cycles : 3). + 52.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816935 ms (missed cycles : 3).[0m ×2 + 53.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429409 ms (missed cycles : 3). + 53.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429409 ms (missed cycles : 3).[0m ×2 + 54.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904410 ms (missed cycles : 5). + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904410 ms (missed cycles : 5).[0m ×2 + 54.22sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 54.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476550 ms (missed cycles : 2). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476550 ms (missed cycles : 2).[0m ×2 + 55.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.017ms + 56.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731668 ms (missed cycles : 3). + 56.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731668 ms (missed cycles : 3).[0m ×2 + 57.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508188 ms (missed cycles : 3). + 57.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508188 ms (missed cycles : 3).[0m ×2 + 58.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.816511 ms (missed cycles : 5). + 58.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.816511 ms (missed cycles : 5).[0m ×2 + 58.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 59.28sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 59.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730449 ms (missed cycles : 2). + 59.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730449 ms (missed cycles : 2).[0m ×2 + 59.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 60.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053505 ms (missed cycles : 3). + 60.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053505 ms (missed cycles : 3).[0m ×2 + 61.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862404 ms (missed cycles : 4). + 61.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862404 ms (missed cycles : 4).[0m ×2 + 62.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278413 ms (missed cycles : 3). + 62.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278413 ms (missed cycles : 3).[0m ×2 + 63.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980816 ms (missed cycles : 5). + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980816 ms (missed cycles : 5).[0m ×2 + 64.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.858ms + 64.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011611 ms (missed cycles : 5). + 64.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011611 ms (missed cycles : 5).[0m ×2 + 66.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 66.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348693 ms (missed cycles : 3). + 66.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348693 ms (missed cycles : 3).[0m ×2 + 66.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 67.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428637 ms (missed cycles : 3). + 67.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428637 ms (missed cycles : 3).[0m ×2 + 68.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948459 ms (missed cycles : 3). + 68.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948459 ms (missed cycles : 3).[0m ×2 + 68.58sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788877827.74626613 seconds ×3 + 68.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 68.60sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.60sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 69.12sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788877828.32219768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.20sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 3.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.20sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 3.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.375ms + 69.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174566 ms (missed cycles : 2). + 69.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174566 ms (missed cycles : 2).[0m ×2 + 69.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.324ms + 70.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148759 ms (missed cycles : 3). + 70.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148759 ms (missed cycles : 3).[0m ×2 + 70.89sWARNros2_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 + 70.91sWARNros2_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 + 71.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431626 ms (missed cycles : 3). + 71.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431626 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.5s | 242 warnings · 207 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844781 ms (missed cycles : 5). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844781 ms (missed cycles : 5).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076357 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076357 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 2.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237498 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237498 ms (missed cycles : 3).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788877602.67584109 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788877603.25440073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808414 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808414 ms (missed cycles : 3).[0m ×2 + 4.08sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 4.12sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 2.604ms + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148557 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148557 ms (missed cycles : 3).[0m ×2 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204860 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204860 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.66sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123564 ms (missed cycles : 3). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123564 ms (missed cycles : 3).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574896 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574896 ms (missed cycles : 2).[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110560 ms (missed cycles : 2). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110560 ms (missed cycles : 2).[0m ×2 + 9.23sWARNros2_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 + 9.27sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 3.867ms + 9.80sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.048ms + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915216 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915216 ms (missed cycles : 2).[0m ×2 + 10.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms + 10.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192658 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192658 ms (missed cycles : 2).[0m ×2 + 11.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792381 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792381 ms (missed cycles : 2).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276737 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276737 ms (missed cycles : 2).[0m ×2 + 13.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms ×2 + 14.41sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211870 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211870 ms (missed cycles : 3).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 15.59sWARNros2_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 + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252236 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252236 ms (missed cycles : 2).[0m ×2 + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231332 ms (missed cycles : 4). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231332 ms (missed cycles : 4).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769018 ms (missed cycles : 3). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769018 ms (missed cycles : 3).[0m ×2 + 17.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854384 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854384 ms (missed cycles : 2).[0m ×2 + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 19.70sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 19.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334993 ms (missed cycles : 3). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334993 ms (missed cycles : 3).[0m ×2 + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353631 ms (missed cycles : 3). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353631 ms (missed cycles : 3).[0m ×2 + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 21.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 22.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979707 ms (missed cycles : 3). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979707 ms (missed cycles : 3).[0m ×2 + 22.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831174 ms (missed cycles : 3). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831174 ms (missed cycles : 3).[0m ×2 + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554666 ms (missed cycles : 3). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554666 ms (missed cycles : 3).[0m ×2 + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817617 ms (missed cycles : 2). + 25.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817617 ms (missed cycles : 2).[0m ×2 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523063 ms (missed cycles : 4). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523063 ms (missed cycles : 4).[0m ×2 + 26.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×10 + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592784 ms (missed cycles : 2). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592784 ms (missed cycles : 2).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102263 ms (missed cycles : 2). + 28.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102263 ms (missed cycles : 2).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 29.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398758 ms (missed cycles : 3). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398758 ms (missed cycles : 3).[0m ×2 + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252778 ms (missed cycles : 2). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252778 ms (missed cycles : 2).[0m ×2 + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 31.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.651ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173620 ms (missed cycles : 2). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173620 ms (missed cycles : 2).[0m ×2 + 31.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 32.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053901 ms (missed cycles : 4). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053901 ms (missed cycles : 4).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583577 ms (missed cycles : 2). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583577 ms (missed cycles : 2).[0m ×2 + 33.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983117 ms (missed cycles : 3). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983117 ms (missed cycles : 3).[0m ×2 + 34.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.781ms + 35.07sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582786 ms (missed cycles : 4). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582786 ms (missed cycles : 4).[0m ×2 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766698 ms (missed cycles : 2). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766698 ms (missed cycles : 2).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172528 ms (missed cycles : 2). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172528 ms (missed cycles : 2).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127165 ms (missed cycles : 3). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127165 ms (missed cycles : 3).[0m ×2 + 40.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233325 ms (missed cycles : 4). + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233325 ms (missed cycles : 4).[0m ×2 + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066441 ms (missed cycles : 4). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066441 ms (missed cycles : 4).[0m ×2 + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246103 ms (missed cycles : 2). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246103 ms (missed cycles : 2).[0m ×2 + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697630 ms (missed cycles : 2). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697630 ms (missed cycles : 2).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697050 ms (missed cycles : 5). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697050 ms (missed cycles : 5).[0m ×2 + 45.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768669 ms (missed cycles : 4). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768669 ms (missed cycles : 4).[0m ×2 + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521005 ms (missed cycles : 4). + 46.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521005 ms (missed cycles : 4).[0m ×2 + 47.24sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 47.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127833 ms (missed cycles : 2). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127833 ms (missed cycles : 2).[0m ×2 + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679466 ms (missed cycles : 2). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679466 ms (missed cycles : 2).[0m ×2 + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831951 ms (missed cycles : 3). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831951 ms (missed cycles : 3).[0m ×2 + 49.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 50.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331695 ms (missed cycles : 3). + 50.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331695 ms (missed cycles : 3).[0m ×2 + 51.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192621 ms (missed cycles : 3). + 51.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192621 ms (missed cycles : 3).[0m ×2 + 52.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249082 ms (missed cycles : 4). + 52.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249082 ms (missed cycles : 4).[0m ×2 + 52.81sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 52.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.773ms + 53.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.136724 ms (missed cycles : 4). + 53.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.136724 ms (missed cycles : 4).[0m ×2 + 54.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 55.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723036 ms (missed cycles : 5). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723036 ms (missed cycles : 5).[0m ×2 + 55.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 56.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939739 ms (missed cycles : 2). + 56.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939739 ms (missed cycles : 2).[0m ×2 + 57.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951055 ms (missed cycles : 3). + 57.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951055 ms (missed cycles : 3).[0m ×2 + 58.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3). + 58.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3).[0m ×2 + 59.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3). + 59.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3).[0m ×2 + 60.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3). + 60.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3).[0m ×2 + 60.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788877660.14453435 seconds ×3 + 60.81sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.81sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 60.91sWARNlocal_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. ×6 + 60.91sWARNlocal_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. ×6 + 61.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.23sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788877660.72509527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.452ms + 61.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3). + 61.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3).[0m ×2 + 61.65sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 61.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3). + 62.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3).[0m ×2 + 63.69sWARNros2_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 + 63.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3). + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 244 warnings · 199 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.41sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788877834.17235303 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788877834.76013565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.42sWARNros2_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 + 3.44sWARNros2_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.75sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.75sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455649 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455649 ms (missed cycles : 3).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776128 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776128 ms (missed cycles : 3).[0m ×2 + 7.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.935ms + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184469 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184469 ms (missed cycles : 2).[0m ×2 + 9.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.673ms + 9.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.349ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216581 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216581 ms (missed cycles : 3).[0m ×2 + 10.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.703ms + 10.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.363ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904768 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904768 ms (missed cycles : 2).[0m ×2 + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.653ms + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225339 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225339 ms (missed cycles : 2).[0m ×2 + 12.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.073ms + 12.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.544ms + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984455 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984455 ms (missed cycles : 3).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.258ms + 13.86sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 13.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×8 + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.743ms + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528089 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528089 ms (missed cycles : 3).[0m ×2 + 14.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.983ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321916 ms (missed cycles : 4). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321916 ms (missed cycles : 4).[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 3378 particles 723 points - 7.347ms + 15.71sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 4.413ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982995 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982995 ms (missed cycles : 2).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.514ms + 16.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625192 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625192 ms (missed cycles : 2).[0m ×2 + 17.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 18.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404907 ms (missed cycles : 3). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404907 ms (missed cycles : 3).[0m ×2 + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.329ms + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187124 ms (missed cycles : 4). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187124 ms (missed cycles : 4).[0m ×2 + 19.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247481 ms (missed cycles : 4). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247481 ms (missed cycles : 4).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089324 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089324 ms (missed cycles : 2).[0m ×2 + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745271 ms (missed cycles : 6). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745271 ms (missed cycles : 6).[0m ×2 + 23.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084287 ms (missed cycles : 4). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084287 ms (missed cycles : 4).[0m ×2 + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757352 ms (missed cycles : 3). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757352 ms (missed cycles : 3).[0m ×2 + 24.89sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478872 ms (missed cycles : 3). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478872 ms (missed cycles : 3).[0m ×2 + 26.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185439 ms (missed cycles : 5). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185439 ms (missed cycles : 5).[0m ×2 + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740430 ms (missed cycles : 3). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740430 ms (missed cycles : 3).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677478 ms (missed cycles : 2). + 29.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677478 ms (missed cycles : 2).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 30.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501380 ms (missed cycles : 2). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501380 ms (missed cycles : 2).[0m ×2 + 30.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606711 ms (missed cycles : 2). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606711 ms (missed cycles : 2).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022177 ms (missed cycles : 2). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022177 ms (missed cycles : 2).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 32.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316939 ms (missed cycles : 3). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316939 ms (missed cycles : 3).[0m ×2 + 34.16sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537400 ms (missed cycles : 4). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537400 ms (missed cycles : 4).[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270802 ms (missed cycles : 3). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270802 ms (missed cycles : 3).[0m ×2 + 35.56sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 35.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625363 ms (missed cycles : 2). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625363 ms (missed cycles : 2).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893783 ms (missed cycles : 3). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893783 ms (missed cycles : 3).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144441 ms (missed cycles : 3). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144441 ms (missed cycles : 3).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942458 ms (missed cycles : 4). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942458 ms (missed cycles : 4).[0m ×2 + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713330 ms (missed cycles : 2). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713330 ms (missed cycles : 2).[0m ×2 + 40.58sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 40.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 41.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 41.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681928 ms (missed cycles : 5). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681928 ms (missed cycles : 5).[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276753 ms (missed cycles : 4). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276753 ms (missed cycles : 4).[0m ×2 + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767857 ms (missed cycles : 3). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767857 ms (missed cycles : 3).[0m ×2 + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.789514 ms (missed cycles : 5). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.789514 ms (missed cycles : 5).[0m ×2 + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312378 ms (missed cycles : 4). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312378 ms (missed cycles : 4).[0m ×2 + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359148 ms (missed cycles : 3). + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359148 ms (missed cycles : 3).[0m ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924906 ms (missed cycles : 2). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924906 ms (missed cycles : 2).[0m ×2 + 49.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072986 ms (missed cycles : 3). + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072986 ms (missed cycles : 3).[0m ×2 + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108116 ms (missed cycles : 2). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108116 ms (missed cycles : 2).[0m ×2 + 50.69sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 50.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 51.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906434 ms (missed cycles : 5). + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906434 ms (missed cycles : 5).[0m ×2 + 51.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 52.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566973 ms (missed cycles : 3). + 52.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566973 ms (missed cycles : 3).[0m ×2 + 53.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661175 ms (missed cycles : 5). + 53.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661175 ms (missed cycles : 5).[0m ×2 + 54.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.592834 ms (missed cycles : 5). + 54.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.592834 ms (missed cycles : 5).[0m ×2 + 55.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 55.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369306 ms (missed cycles : 3). + 55.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369306 ms (missed cycles : 3).[0m ×2 + 55.71sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 55.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 56.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146424 ms (missed cycles : 4). + 56.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146424 ms (missed cycles : 4).[0m ×2 + 57.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116131 ms (missed cycles : 2). + 57.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116131 ms (missed cycles : 2).[0m ×2 + 58.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710600 ms (missed cycles : 2). + 58.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710600 ms (missed cycles : 2).[0m ×2 + 59.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 59.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788877891.57030916 seconds ×3 + 59.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523813 ms (missed cycles : 5). + 59.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523813 ms (missed cycles : 5).[0m ×2 + 59.92sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.92sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.12sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.12sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788877892.15862370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.334ms + 60.78sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 60.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781800 ms (missed cycles : 3). + 60.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781800 ms (missed cycles : 3).[0m ×2 + 61.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.20sWARNros2_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 + 61.22sWARNros2_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 + 62.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727091 ms (missed cycles : 3). + 62.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727091 ms (missed cycles : 3).[0m ×2 + 63.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133928 ms (missed cycles : 2). + 63.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133928 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.0s | 232 warnings · 220 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.09sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.12sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788877699.12775612 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788877699.70349622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.956ms + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.851ms + 4.84sWARNros2_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 ×4 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_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 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.40sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.40sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.40sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103585 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103585 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681705 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681705 ms (missed cycles : 3).[0m ×2 + 8.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.061ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281859 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281859 ms (missed cycles : 2).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 10.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.430ms + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859267 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859267 ms (missed cycles : 2).[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.927ms + 11.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.113ms + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987848 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987848 ms (missed cycles : 3).[0m ×2 + 11.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.259ms + 12.41sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 6.584ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754929 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754929 ms (missed cycles : 3).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 5.646ms + 13.61sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 3.579ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939151 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939151 ms (missed cycles : 2).[0m ×2 + 14.22sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.177ms + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133224 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133224 ms (missed cycles : 3).[0m ×2 + 15.40sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150958 ms (missed cycles : 3). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150958 ms (missed cycles : 3).[0m ×2 + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 16.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687196 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687196 ms (missed cycles : 2).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083195 ms (missed cycles : 3). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083195 ms (missed cycles : 3).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100959 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100959 ms (missed cycles : 2).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.919ms + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136027 ms (missed cycles : 4). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136027 ms (missed cycles : 4).[0m ×2 + 20.96sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.256ms + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969934 ms (missed cycles : 3). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969934 ms (missed cycles : 3).[0m ×2 + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812939 ms (missed cycles : 4). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812939 ms (missed cycles : 4).[0m ×2 + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511620 ms (missed cycles : 4). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511620 ms (missed cycles : 4).[0m ×2 + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520664 ms (missed cycles : 3). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520664 ms (missed cycles : 3).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887111 ms (missed cycles : 4). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887111 ms (missed cycles : 4).[0m ×2 + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 26.52sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284899 ms (missed cycles : 2). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284899 ms (missed cycles : 2).[0m ×2 + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021474 ms (missed cycles : 4). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021474 ms (missed cycles : 4).[0m ×2 + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms ×2 + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746362 ms (missed cycles : 2). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746362 ms (missed cycles : 2).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839554 ms (missed cycles : 2). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839554 ms (missed cycles : 2).[0m ×2 + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324737 ms (missed cycles : 2). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324737 ms (missed cycles : 2).[0m ×2 + 31.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.599ms + 32.02sWARNros2_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 + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472042 ms (missed cycles : 4). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472042 ms (missed cycles : 4).[0m ×2 + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 33.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 33.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541639 ms (missed cycles : 3). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541639 ms (missed cycles : 3).[0m ×2 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727154 ms (missed cycles : 2). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727154 ms (missed cycles : 2).[0m ×2 + 34.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.077ms + 35.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867491 ms (missed cycles : 4). + 35.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867491 ms (missed cycles : 4).[0m ×2 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180626 ms (missed cycles : 3). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180626 ms (missed cycles : 3).[0m ×2 + 37.63sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105271 ms (missed cycles : 4). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105271 ms (missed cycles : 4).[0m ×2 + 37.88sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 38.62sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813962 ms (missed cycles : 5). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813962 ms (missed cycles : 5).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797157 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797157 ms (missed cycles : 2).[0m ×2 + 40.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 41.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756798 ms (missed cycles : 3). + 41.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756798 ms (missed cycles : 3).[0m ×2 + 41.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146953 ms (missed cycles : 2). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146953 ms (missed cycles : 2).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 42.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087958 ms (missed cycles : 4). + 43.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087958 ms (missed cycles : 4).[0m ×2 + 43.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 43.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 44.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825480 ms (missed cycles : 2). + 44.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825480 ms (missed cycles : 2).[0m ×2 + 45.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185536 ms (missed cycles : 5). + 45.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185536 ms (missed cycles : 5).[0m ×2 + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 + 47.74sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 47.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162218 ms (missed cycles : 4). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162218 ms (missed cycles : 4).[0m ×2 + 48.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 48.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.261ms + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397263 ms (missed cycles : 2). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397263 ms (missed cycles : 2).[0m ×2 + 49.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 49.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052976 ms (missed cycles : 2). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052976 ms (missed cycles : 2).[0m ×2 + 50.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 51.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814642 ms (missed cycles : 3). + 51.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814642 ms (missed cycles : 3).[0m ×2 + 51.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039934 ms (missed cycles : 4). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039934 ms (missed cycles : 4).[0m ×2 + 53.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975951 ms (missed cycles : 4). + 53.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975951 ms (missed cycles : 4).[0m ×2 + 53.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 54.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393812 ms (missed cycles : 3). + 54.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393812 ms (missed cycles : 3).[0m ×2 + 54.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 55.15sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788877751.15363288 seconds ×3 + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175357 ms (missed cycles : 4). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175357 ms (missed cycles : 4).[0m ×2 + 55.26sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.26sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.36sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.36sWARNlocal_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 + 55.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.73sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788877751.73255849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.544ms + 56.18sINFOobjective_server_nodeFound path in 0 iterations (5.54e-07 s). ×2 + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387757 ms (missed cycles : 3). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387757 ms (missed cycles : 3).[0m ×2 + 57.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712508 ms (missed cycles : 3). + 57.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712508 ms (missed cycles : 3).[0m ×2 + 58.15sWARNros2_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 + 58.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941794 ms (missed cycles : 5). + 58.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941794 ms (missed cycles : 5).[0m ×2 + 58.75sWARNros2_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 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 178 warnings · 392 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.02sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][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 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.60sINFOmove_groupClearing octomap...[0m ×4 + 0.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.60sINFOmove_groupOctomap cleared.[0m ×4 + 0.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 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 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 1.59sWARNros2_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 + 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: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 2.18sWARNros2_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 ×10 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 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 + 2.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 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: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189197 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189197 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_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 ×12 + 7.72sWARNros2_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 + 7.74sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 2.738ms + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199281 ms (missed cycles : 4). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199281 ms (missed cycles : 4).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.652030 ms (missed cycles : 4). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.652030 ms (missed cycles : 4).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564619 ms (missed cycles : 4). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564619 ms (missed cycles : 4).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796308 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796308 ms (missed cycles : 2).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327087 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327087 ms (missed cycles : 2).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553389 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553389 ms (missed cycles : 2).[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453951 ms (missed cycles : 3). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453951 ms (missed cycles : 3).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011075 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011075 ms (missed cycles : 2).[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720296 ms (missed cycles : 3). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720296 ms (missed cycles : 3).[0m ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853445 ms (missed cycles : 3). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853445 ms (missed cycles : 3).[0m ×2 + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712703 ms (missed cycles : 2). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712703 ms (missed cycles : 2).[0m ×2 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014167 ms (missed cycles : 3). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014167 ms (missed cycles : 3).[0m ×2 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827439 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827439 ms (missed cycles : 2).[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980350 ms (missed cycles : 2). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980350 ms (missed cycles : 2).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870278 ms (missed cycles : 2). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870278 ms (missed cycles : 2).[0m ×2 + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795055 ms (missed cycles : 3). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795055 ms (missed cycles : 3).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478152 ms (missed cycles : 4). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478152 ms (missed cycles : 4).[0m ×2 + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540772 ms (missed cycles : 4). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540772 ms (missed cycles : 4).[0m ×2 + 27.17sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865542 ms (missed cycles : 5). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865542 ms (missed cycles : 5).[0m ×2 + 28.34sWARNros2_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 + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638458 ms (missed cycles : 3). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638458 ms (missed cycles : 3).[0m ×2 + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938857 ms (missed cycles : 3). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938857 ms (missed cycles : 3).[0m ×2 + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802609 ms (missed cycles : 3). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802609 ms (missed cycles : 3).[0m ×2 + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677348 ms (missed cycles : 3). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677348 ms (missed cycles : 3).[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122106 ms (missed cycles : 2). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122106 ms (missed cycles : 2).[0m ×2 + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479260 ms (missed cycles : 3). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479260 ms (missed cycles : 3).[0m ×2 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138427 ms (missed cycles : 2). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138427 ms (missed cycles : 2).[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636442 ms (missed cycles : 2). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636442 ms (missed cycles : 2).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458337 ms (missed cycles : 3). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458337 ms (missed cycles : 3).[0m ×2 + 37.25sWARNros2_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 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926888 ms (missed cycles : 3). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926888 ms (missed cycles : 3).[0m ×2 + 38.90sWARNros2_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 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248023 ms (missed cycles : 2). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248023 ms (missed cycles : 2).[0m ×2 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487272 ms (missed cycles : 5). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487272 ms (missed cycles : 5).[0m ×2 + 41.16sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.166ms + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730810 ms (missed cycles : 3). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730810 ms (missed cycles : 3).[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805393 ms (missed cycles : 2). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805393 ms (missed cycles : 2).[0m ×2 + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985086 ms (missed cycles : 2). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985086 ms (missed cycles : 2).[0m ×2 + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809790 ms (missed cycles : 2). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809790 ms (missed cycles : 2).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088041 ms (missed cycles : 2). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088041 ms (missed cycles : 2).[0m ×2 + 46.08sINFOjoint_trajectory_controllerGoal reached, success! + 46.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788877596.55182719 seconds ×3 + 46.13sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.13sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.14sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.14sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.66sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788877597.12566972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136250 ms (missed cycles : 2). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136250 ms (missed cycles : 2).[0m ×2 + 46.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109336 ms (missed cycles : 2). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109336 ms (missed cycles : 2).[0m ×2 + 47.80sINFOobjective_server_nodeFound path in 0 iterations (2.3334e-05 s). ×2 + 47.86sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623179 ms (missed cycles : 3). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623179 ms (missed cycles : 3).[0m ×2 + 49.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 150 warnings · 184 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083822 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083822 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696736 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696736 ms (missed cycles : 3).[0m ×2 + 2.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.18sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788877666.50523210 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837955 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837955 ms (missed cycles : 3).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788877668.07757878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429809 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429809 ms (missed cycles : 3).[0m ×2 + 3.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144347 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144347 ms (missed cycles : 2).[0m ×2 + 5.09sWARNros2_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 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859213 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859213 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.40sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288380 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288380 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588366 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588366 ms (missed cycles : 2).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.515ms + 9.04sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292803 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292803 ms (missed cycles : 2).[0m ×2 + 9.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.117ms + 10.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.221ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994579 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994579 ms (missed cycles : 2).[0m ×2 + 10.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.838ms + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.454ms + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280969 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280969 ms (missed cycles : 3).[0m ×2 + 12.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.786ms + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801106 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801106 ms (missed cycles : 2).[0m ×2 + 12.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.370ms + 13.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.238ms + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725302 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725302 ms (missed cycles : 2).[0m ×2 + 13.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.313ms + 14.45sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 14.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.693ms + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081111 ms (missed cycles : 4). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081111 ms (missed cycles : 4).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 4259 particles 723 points - 7.399ms + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812451 ms (missed cycles : 5). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812451 ms (missed cycles : 5).[0m ×2 + 15.66sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 5.821ms + 16.24sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 5.704ms + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.686615 ms (missed cycles : 5). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.686615 ms (missed cycles : 5).[0m ×2 + 16.83sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.574ms + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.335ms + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892209 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892209 ms (missed cycles : 2).[0m ×2 + 18.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 18.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997231 ms (missed cycles : 2). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997231 ms (missed cycles : 2).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721608 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721608 ms (missed cycles : 2).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 20.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036899 ms (missed cycles : 3). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036899 ms (missed cycles : 3).[0m ×2 + 21.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537497 ms (missed cycles : 5). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537497 ms (missed cycles : 5).[0m ×2 + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155935 ms (missed cycles : 2). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155935 ms (missed cycles : 2).[0m ×2 + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 23.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737741 ms (missed cycles : 2). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737741 ms (missed cycles : 2).[0m ×2 + 24.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 24.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977493 ms (missed cycles : 2). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977493 ms (missed cycles : 2).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 26.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084937 ms (missed cycles : 3). + 26.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084937 ms (missed cycles : 3).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 26.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 26.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049470 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049470 ms (missed cycles : 2).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311010 ms (missed cycles : 2). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311010 ms (missed cycles : 2).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013147 ms (missed cycles : 4). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013147 ms (missed cycles : 4).[0m ×2 + 29.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742617 ms (missed cycles : 2). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742617 ms (missed cycles : 2).[0m ×2 + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 31.02sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708828 ms (missed cycles : 5). + 31.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708828 ms (missed cycles : 5).[0m ×2 + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3).[0m ×2 + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3).[0m ×2 + 34.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788877699.12775612 seconds ×3 + 34.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 34.84sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.84sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788877699.70349622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.956ms + 35.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2). + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2).[0m ×2 + 35.79sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 35.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.851ms + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3).[0m ×2 + 37.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.3s | 93 warnings · 244 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116131 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116131 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710600 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710600 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.13sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788877891.57030916 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.18sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523813 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523813 ms (missed cycles : 5).[0m ×2 + 2.25sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.45sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.45sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.69sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.69sINFOobjective_server_nodecaller: ×6 + 2.69sINFOobjective_server_nodetype: 0 ×6 + 2.69sINFOobjective_server_nodename: "" ×6 + 2.70sINFOobjective_server_nodeinstance_id: "" ×6 + 2.70sINFOobjective_server_node ×6 + 2.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788877892.15862370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.334ms + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781800 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781800 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.53sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.55sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727091 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727091 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133928 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133928 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922342 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922342 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682462 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682462 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205433 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205433 ms (missed cycles : 2).[0m ×2 + 8.70sWARNros2_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 + 9.13sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.21sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.36sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.52sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676964 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676964 ms (missed cycles : 3).[0m ×2 + 9.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 10.28sINFOobjective_server_nodeFound path in 33 iterations (0.0360568 s). ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113921 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113921 ms (missed cycles : 2).[0m ×2 + 10.81sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.88sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 11.55sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.61sINFOobjective_server_nodeFound path in 0 iterations (6.38e-07 s). ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707574 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707574 ms (missed cycles : 2).[0m ×2 + 12.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.47sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482904 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482904 ms (missed cycles : 3).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216918 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216918 ms (missed cycles : 2).[0m ×2 + 13.88sWARNros2_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 + 13.90sWARNros2_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 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338728 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338728 ms (missed cycles : 3).[0m ×2 + 15.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.627ms + 15.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.330ms + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508930 ms (missed cycles : 3). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508930 ms (missed cycles : 3).[0m ×2 + 16.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.644ms + 16.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.598ms + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130436 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130436 ms (missed cycles : 2).[0m ×2 + 17.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.320ms + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184168 ms (missed cycles : 3). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184168 ms (missed cycles : 3).[0m ×2 + 18.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788877907.88498855 seconds ×3 + 19.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.01sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.656ms + 19.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877908.49567866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.08sINFOmove_groupClearing octomap...[0m ×2 + 19.08sINFOmove_groupOctomap cleared.[0m ×2 + 19.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784785 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784785 ms (missed cycles : 2).[0m ×2 + 19.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877909.46065283 seconds ×3 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038414 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038414 ms (missed cycles : 2).[0m ×2 + 20.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788877910.03637648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788877910.64652181 seconds ×3 + 21.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124202 ms (missed cycles : 2). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 105 errors · 38 warnings · 519 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.598ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130436 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130436 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.320ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184168 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184168 ms (missed cycles : 3).[0m ×2 + 1.66sINFOjoint_trajectory_controllerGoal reached, success! + 1.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788877907.88498855 seconds ×3 + 1.70sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.70sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.72sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.23sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.23sINFOobjective_server_nodecaller: ×4 + 2.23sINFOobjective_server_nodetype: 0 ×4 + 2.23sINFOobjective_server_nodename: "" ×4 + 2.23sINFOobjective_server_nodeinstance_id: "" ×4 + 2.23sINFOobjective_server_node ×4 + 2.24sWARNros2_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 + 2.26sWARNros2_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 + 2.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.656ms + 2.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877908.49567866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.35sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784785 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784785 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877909.46065283 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038414 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038414 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788877910.03637648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788877910.64652181 seconds ×3 + 4.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124202 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124202 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117637 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117637 ms (missed cycles : 2).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294254 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294254 ms (missed cycles : 2).[0m ×2 + 7.31sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.33sWARNros2_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 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908559 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908559 ms (missed cycles : 2).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927631 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927631 ms (missed cycles : 2).[0m ×2 + 10.69sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.71sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORweb_video_auth_proxy-38process has died [pid 7793, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.72sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.72sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORweb_bridge_auth_proxy-37process has died [pid 7790, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.73sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.75sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.75sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.76sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.77sINFOvideo_server-36process has finished cleanly [pid 7785] ×2 + 10.77sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.79sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.80sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.81sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.82sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.83sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.84sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.85sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.87sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.88sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.88sINFOcontroller_managerShutdown request received.... + 10.88sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.88sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.88sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.88sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.88sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.88sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.88sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.88sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.88sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.88sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.88sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.88sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.89sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.89sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.89sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.89sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.89sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.89sINFOcontroller_managerShutting down the controller manager. + 10.89sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.90sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.90sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.91sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.92sERRORmove_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_bxyix4_9 --params-file /tmp/launch_params_l2lp3ela --params-file /tmp/launch_params_hbc0x5s_ --params-file /tmp/launch_params_ndy3a6_t --params-file /tmp/launch_params_857trod4 --params-file /tmp/launch_params__a2reicb']. ×2 + 10.92sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.93sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.94sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.95sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.96sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.97sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.98sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.98sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.98sINFOmap_serverDeactivating + 10.98sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.98sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.99sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.99sINFOcontroller_serverDeactivating + 10.99sINFOlocal_costmap.local_costmapDeactivating + 10.99sINFOvideo_server2026/09/08 14:31:56 INF shutting down gracefully ×2 + 10.99sINFOvideo_server2026/09/08 14:31:56 INF [WebRTC] closing ×2 + 10.99sINFOmap_serverCleaning up + 10.99sINFOvideo_server2026/09/08 14:31:56 INF [RTSP] closing ×2 + 10.99sINFOvideo_server2026/09/08 14:31:56 INF waiting for running hooks ×2 + 10.99sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.99sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.99sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.99sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.99sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.99sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.99sERRORmove_groupStack trace (most recent call last) in thread 8401: ×2 + 10.99sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.99sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04375faa63, in __clone ×2 + 10.99sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f043756daa3, in ×2 + 10.99sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04377ffdb3, in ×2 + 10.99sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f0437f64a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.99sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0437b91620, in rclcpp::Rate::sleep() ×2 + 10.99sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0437ad3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.99sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0437a95087, in ×2 + 10.99sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04377ce390, in __cxa_throw ×2 + 10.99sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04377b8a54, in std::terminate() ×2 + 10.99sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04377ce0d9, in ×2 + 10.99sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.99sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.99sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.99sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.99sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.99sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.99sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.99sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.99sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.99sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.99sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.99sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.99sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.99sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.99sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.99sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04377b8ff4, in ×2 + 10.99sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04374f98fe, in abort ×2 + 10.99sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f043751627d, in raise ×2 + 10.99sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f043756fb2c, in pthread_kill ×2 + 10.99sERRORmove_groupAborted (Signal sent by tkill() 7739 0) ×2 + 10.99sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.00sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.00sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 11.00sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.00sINFOodom_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 + 11.00sINFOodom_qos_relay.pymain() ×2 + 11.00sINFOodom_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 + 11.00sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.00sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.00sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.00sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.00sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.00sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.00sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.00sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.00sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.01sERRORamclThe bond connection to the lifecycle manager has been broken + 11.07sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.08sINFOcontroller_serverCleaning up + 11.09sINFOlocal_costmap.local_costmapCleaning up + 11.10sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.10sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.10sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.13sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.13sINFOsmoother_serverDeactivating + 11.13sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.14sINFOsmoother_serverCleaning up + 11.16sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.16sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.16sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.16sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.16sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.16sINFOvelocity_smootherDeactivating + 11.16sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.16sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.16sINFOplanner_serverDeactivating + 11.16sINFOglobal_costmap.global_costmapDeactivating + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.27sINFOwaypoint_followerDeactivating + 11.27sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.38sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.38sINFObt_navigatorDeactivating + 11.38sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.49sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.49sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.50sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.50sINFObehavior_serverDeactivating + 11.50sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.50sINFOplanner_serverCleaning up + 11.52sINFOglobal_costmap.global_costmapCleaning up + 11.53sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.53sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.56sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.56sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.56sINFObt_navigatorCleaning up + 11.61sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.61sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.61sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.61sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.61sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.61sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.61sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.61sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.61sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.61sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.61sINFOvelocity_smootherCleaning up + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.62sINFOwaypoint_followerCleaning up + 11.65sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.67sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.67sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.67sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.67sINFObehavior_serverCleaning up + 11.72sINFObt_navigatorCompleted Cleaning up + 11.72sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.72sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.72sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.73sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.73sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.73sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.81sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7782] ×2 + 11.81sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.88sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7769] ×2 + 11.88sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7768] ×2 + 11.89sINFOui_teleop_bridge-33process has finished cleanly [pid 7778] ×2 + 11.89sINFOexecute_objective_bridge-32process has finished cleanly [pid 7773] ×2 + 11.93sINFOparameter_manager_node-25process has finished cleanly [pid 7766] ×2 + 11.95sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7702] ×2 + 11.95sINFOwaypoint_manager_node-26process has finished cleanly [pid 7767] ×2 + 11.95sINFOcomponent_container_mt-31process has finished cleanly [pid 7772] ×2 + 11.96sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7701] ×2 + 11.96sINFOstatic_transform_publisher-9process has finished cleanly [pid 7619] ×2 + 11.97sINFOstatic_transform_publisher-8process has finished cleanly [pid 7618] ×2 + 11.98sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.98sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.98sINFOlidar_flattener.pymain() ×2 + 11.98sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.98sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.98sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.98sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.98sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.98sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.98sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.98sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.98sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.98sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.98sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.98sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.98sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.98sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.98sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.99sINFOobjective_server_node[2026-09-08 14:31:58.181] [moveit_pro_license] [critical] ×2 + 11.99sINFOobjective_server_node************************************************* ×4 + 11.99sINFOobjective_server_node* MoveIt Pro License ×2 + 11.99sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.01sINFOstatic_transform_publisher-4process has finished cleanly [pid 7614] ×2 + 12.02sINFOstatic_transform_publisher-3process has finished cleanly [pid 7613] ×2 + 12.03sERRORlidar_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_ww0477yx']. ×2 + 12.04sERRORcomponent_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_5hyb4m6f --params-file /tmp/launch_params_2utyh45z -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.05sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7616] ×2 + 12.06sERRORodom_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 + 12.06sINFOobjective_server_node_main-29process has finished cleanly [pid 7770] ×2 + 12.06sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.35sERRORcomponent_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_5hyb4m6f --params-file /tmp/launch_params_4b19tsdc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.02sINFOcomponent_container_mt-30process has finished cleanly [pid 7771] ×2 + 13.63sINFOros2_control_node-12process has finished cleanly [pid 7703] ×2 + 13.67sINFOweb_bridge-34process has finished cleanly [pid 7781] ×2 + 13.67sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 93 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039934 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039934 ms (missed cycles : 4).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975951 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975951 ms (missed cycles : 4).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393812 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393812 ms (missed cycles : 3).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788877751.15363288 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175357 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175357 ms (missed cycles : 4).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.29sWARNlocal_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 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788877751.73255849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.544ms + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.54e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387757 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387757 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712508 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712508 ms (missed cycles : 3).[0m ×2 + 6.07sWARNros2_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 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941794 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941794 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133472 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133472 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736427 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736427 ms (missed cycles : 3).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.387ms + 9.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.785ms + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098792 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098792 ms (missed cycles : 4).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.354ms + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790454 ms (missed cycles : 3). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790454 ms (missed cycles : 3).[0m ×2 + 10.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.875ms + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.937ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235053 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235053 ms (missed cycles : 3).[0m ×2 + 11.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 11.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.979ms + 12.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020225 ms (missed cycles : 4). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020225 ms (missed cycles : 4).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.284ms + 13.50sINFOamclParticle filter update iteration stats: 3669 particles 723 points - 7.467ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155406 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155406 ms (missed cycles : 3).[0m ×2 + 13.92sINFOobjective_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 + 13.92sINFOjoint_trajectory_controllerGot request to cancel goal + 13.92sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.92sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.92sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.92sERRORobjective_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: 1788877762.00615644 seconds ×3 + 13.99sWARNlocal_costmap.local_costmapSensor origin at (-0.43, 2.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.99sWARNlocal_costmap.local_costmapSensor origin at (-1.33, 2.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.06sINFOamclParticle filter update iteration stats: 2857 particles 723 points - 5.122ms + 14.09sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.09sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788877762.59607697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.485ms + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905807 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905807 ms (missed cycles : 3).[0m ×2 + 14.91sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113587 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113587 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136994 ms (missed cycles : 5). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136994 ms (missed cycles : 5).[0m ×2 + 16.91sWARNros2_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 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 62 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.39sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788877660.14453435 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 2.64sWARNlocal_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. ×6 + 2.64sWARNlocal_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. ×6 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788877660.72509527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.452ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3).[0m ×2 + 6.60sWARNros2_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 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083822 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083822 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696736 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696736 ms (missed cycles : 3).[0m ×2 + 8.78sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788877666.50523210 seconds ×3 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837955 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837955 ms (missed cycles : 3).[0m ×2 + 10.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.31sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.35sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788877668.07757878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429809 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429809 ms (missed cycles : 3).[0m ×2 + 10.54sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.74sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 11.53sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144347 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144347 ms (missed cycles : 2).[0m ×2 + 11.69sWARNros2_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 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859213 ms (missed cycles : 4). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859213 ms (missed cycles : 4).[0m ×2 + 12.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 72 warnings · 140 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348693 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348693 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428637 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428637 ms (missed cycles : 3).[0m ×2 + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948459 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948459 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.19sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788877827.74626613 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788877828.32219768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 3.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 3.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.375ms + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174566 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174566 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.324ms + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148759 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148759 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431626 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431626 ms (missed cycles : 3).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2).[0m ×2 + 9.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788877834.17235303 seconds ×3 + 10.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788877834.76013565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2).[0m ×2 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 10.62sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.64sWARNros2_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 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2).[0m ×2 + 12.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 46 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985086 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985086 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809790 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809790 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088041 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088041 ms (missed cycles : 2).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.64sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788877596.55182719 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788877597.12566972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136250 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136250 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109336 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109336 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3334e-05 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.44sWARNros2_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 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623179 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623179 ms (missed cycles : 3).[0m ×2 + 6.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844781 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844781 ms (missed cycles : 5).[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 7.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076357 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076357 ms (missed cycles : 2).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237498 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237498 ms (missed cycles : 3).[0m ×2 + 8.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788877602.67584109 seconds ×3 + 9.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.33sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788877603.25440073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808414 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808414 ms (missed cycles : 3).[0m ×2 + 9.65sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 2.604ms + 9.86sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148557 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148557 ms (missed cycles : 3).[0m ×2 + 10.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204860 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204860 ms (missed cycles : 2).[0m ×2 + 12.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 28 warnings · 122 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.330ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508930 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508930 ms (missed cycles : 3).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.644ms + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.598ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130436 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130436 ms (missed cycles : 2).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.320ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184168 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184168 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788877907.88498855 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.39sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.41sWARNros2_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 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.656ms + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877908.49567866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.49sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.49sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784785 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784785 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877909.46065283 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038414 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038414 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788877910.03637648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788877910.64652181 seconds ×3 + 5.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124202 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124202 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117637 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117637 ms (missed cycles : 2).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294254 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294254 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.02sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][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 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.60sINFOmove_groupClearing octomap...[0m ×4 + 0.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.60sINFOmove_groupOctomap cleared.[0m ×4 + 0.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 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 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 1.59sWARNros2_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 + 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: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 2.18sWARNros2_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 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 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 + 2.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 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: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985086 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985086 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809790 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809790 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088041 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088041 ms (missed cycles : 2).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788877596.55182719 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788877597.12566972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136250 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136250 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109336 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109336 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3334e-05 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOjoint_trajectory_controllerReceived new action goal + 4.44sINFOjoint_trajectory_controllerAccepted new action goal + 4.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.44sWARNros2_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 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623179 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623179 ms (missed cycles : 3).[0m ×2 + 6.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985086 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985086 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809790 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809790 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088041 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088041 ms (missed cycles : 2).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788877596.55182719 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788877597.12566972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136250 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136250 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109336 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109336 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3334e-05 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOjoint_trajectory_controllerReceived new action goal + 4.44sINFOjoint_trajectory_controllerAccepted new action goal + 4.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.44sWARNros2_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 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623179 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623179 ms (missed cycles : 3).[0m ×2 + 6.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 22 warnings · 315 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_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 5.986487 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.80sINFOobjective_server_nodecaller: ×10 + 2.80sINFOobjective_server_nodetype: 0 ×10 + 2.80sINFOobjective_server_nodename: "" ×10 + 2.80sINFOobjective_server_nodeinstance_id: "" ×10 + 2.80sINFOobjective_server_node ×10 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.84sINFOmove_groupClearing octomap...[0m ×4 + 2.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×4 + 2.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 24 warnings · 75 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844781 ms (missed cycles : 5). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844781 ms (missed cycles : 5).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076357 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076357 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 2.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237498 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237498 ms (missed cycles : 3).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788877602.67584109 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788877603.25440073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808414 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808414 ms (missed cycles : 3).[0m ×2 + 4.08sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.12sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 2.604ms + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148557 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148557 ms (missed cycles : 3).[0m ×2 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204860 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204860 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal + 6.66sINFOjoint_trajectory_controllerAccepted new action goal + 6.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788877660.14453435 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 2.64sWARNlocal_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. ×6 + 2.64sWARNlocal_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. ×6 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788877660.72509527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.452ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.72sINFOjoint_trajectory_controllerReceived new action goal + 3.72sINFOjoint_trajectory_controllerAccepted new action goal + 3.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788877660.14453435 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 2.64sWARNlocal_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. ×6 + 2.64sWARNlocal_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. ×6 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788877660.72509527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.452ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.72sINFOjoint_trajectory_controllerReceived new action goal + 3.72sINFOjoint_trajectory_controllerAccepted new action goal + 3.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788877660.14453435 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 2.64sWARNlocal_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. ×6 + 2.64sWARNlocal_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. ×6 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788877660.72509527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.452ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.72sINFOjoint_trajectory_controllerReceived new action goal + 3.72sINFOjoint_trajectory_controllerAccepted new action goal + 3.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788877660.14453435 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 2.64sWARNlocal_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. ×6 + 2.64sWARNlocal_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. ×6 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788877660.72509527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.452ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.72sINFOjoint_trajectory_controllerReceived new action goal + 3.72sINFOjoint_trajectory_controllerAccepted new action goal + 3.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109275 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179475 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788877660.14453435 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 2.64sWARNlocal_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. ×6 + 2.64sWARNlocal_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. ×6 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788877660.72509527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.452ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373918 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.72sINFOjoint_trajectory_controllerReceived new action goal + 3.72sINFOjoint_trajectory_controllerAccepted new action goal + 3.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904045 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572455 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 36 warnings · 76 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788877699.12775612 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788877699.70349622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.956ms + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.851ms + 4.84sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 36 warnings · 76 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788877699.12775612 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788877699.70349622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.956ms + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.851ms + 4.84sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 36 warnings · 76 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732484 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874059 ms (missed cycles : 3).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008075 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788877699.12775612 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788877699.70349622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.956ms + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011935 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.851ms + 4.84sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755092 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850400 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 22 warnings · 315 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_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 5.986487 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.80sINFOobjective_server_nodecaller: ×10 + 2.80sINFOobjective_server_nodetype: 0 ×10 + 2.80sINFOobjective_server_nodename: "" ×10 + 2.80sINFOobjective_server_nodeinstance_id: "" ×10 + 2.80sINFOobjective_server_node ×10 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.84sINFOmove_groupClearing octomap...[0m ×4 + 2.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×4 + 2.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − 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 2.203175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788877834.17235303 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788877834.76013565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 22 warnings · 315 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_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 5.986487 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.80sINFOobjective_server_nodecaller: ×10 + 2.80sINFOobjective_server_nodetype: 0 ×10 + 2.80sINFOobjective_server_nodename: "" ×10 + 2.80sINFOobjective_server_nodeinstance_id: "" ×10 + 2.80sINFOobjective_server_node ×10 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.84sINFOmove_groupClearing octomap...[0m ×4 + 2.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×4 + 2.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − 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 2.203175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788877834.17235303 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788877834.76013565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_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 2.203175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788877834.17235303 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788877834.76013565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_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 2.203175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788877834.17235303 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788877834.76013565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_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 2.203175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788877834.17235303 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788877834.76013565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_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 2.203175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788877834.17235303 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788877834.76013565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_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 2.203175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203175 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986757 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668584 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788877834.17235303 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788877834.76013565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258158 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269382 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604525 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 20 warnings · 122 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.330ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508930 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508930 ms (missed cycles : 3).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.644ms + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.598ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130436 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130436 ms (missed cycles : 2).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.320ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184168 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184168 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788877907.88498855 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.39sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.41sWARNros2_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 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.656ms + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877908.49567866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.49sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.49sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784785 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784785 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877909.46065283 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038414 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038414 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788877910.03637648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788877910.64652181 seconds ×3 + 5.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124202 ms (missed cycles : 2). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 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 | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 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 | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 24 warnings · 315 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.50sINFOobjective_server_nodecaller: ×10 + 3.50sINFOobjective_server_nodetype: 0 ×10 + 3.50sINFOobjective_server_nodename: "" ×10 + 3.50sINFOobjective_server_nodeinstance_id: "" ×10 + 3.50sINFOobjective_server_node ×10 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.54sINFOmove_groupClearing octomap...[0m ×4 + 3.54sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.54sINFOmove_groupOctomap cleared.[0m ×4 + 3.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 4.53sWARNros2_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 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 5.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 6.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.05sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 25 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_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 5.986487 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.80sINFOobjective_server_nodecaller: ×10 + 2.80sINFOobjective_server_nodetype: 0 ×10 + 2.80sINFOobjective_server_nodename: "" ×10 + 2.80sINFOobjective_server_nodeinstance_id: "" ×10 + 2.80sINFOobjective_server_node ×10 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.84sINFOmove_groupClearing octomap...[0m ×4 + 2.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×4 + 2.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.75sINFOjoint_trajectory_controllerReceived new action goal + 6.75sINFOjoint_trajectory_controllerAccepted new action goal + 6.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 24 warnings · 312 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.50sINFOobjective_server_nodecaller: ×10 + 3.50sINFOobjective_server_nodetype: 0 ×10 + 3.50sINFOobjective_server_nodename: "" ×10 + 3.50sINFOobjective_server_nodeinstance_id: "" ×10 + 3.50sINFOobjective_server_node ×10 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.54sINFOmove_groupClearing octomap...[0m ×4 + 3.54sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.54sINFOmove_groupOctomap cleared.[0m ×4 + 3.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 4.53sWARNros2_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 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 5.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 6.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.05sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 315 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_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 5.986487 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.80sINFOobjective_server_nodecaller: ×10 + 2.80sINFOobjective_server_nodetype: 0 ×10 + 2.80sINFOobjective_server_nodename: "" ×10 + 2.80sINFOobjective_server_nodeinstance_id: "" ×10 + 2.80sINFOobjective_server_node ×10 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.84sINFOmove_groupClearing octomap...[0m ×4 + 2.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×4 + 2.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 315 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_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 5.986487 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.80sINFOobjective_server_nodecaller: ×10 + 2.80sINFOobjective_server_nodetype: 0 ×10 + 2.80sINFOobjective_server_nodename: "" ×10 + 2.80sINFOobjective_server_nodeinstance_id: "" ×10 + 2.80sINFOobjective_server_node ×10 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.84sINFOmove_groupClearing octomap...[0m ×4 + 2.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×4 + 2.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 315 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685709 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_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 5.986487 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.80sINFOobjective_server_nodecaller: ×10 + 2.80sINFOobjective_server_nodetype: 0 ×10 + 2.80sINFOobjective_server_nodename: "" ×10 + 2.80sINFOobjective_server_nodeinstance_id: "" ×10 + 2.80sINFOobjective_server_node ×10 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.84sINFOmove_groupClearing octomap...[0m ×4 + 2.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×4 + 2.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 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 | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 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 | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 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 | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 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 | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986487 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327322 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877551.03242755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.78sINFOmove_groupClearing octomap...[0m ×4 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×4 + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877551.04268098 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626066 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877551.61893797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877551.62905455 seconds ×3 + 2.78sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877552.19849110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877552.34903932 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154790 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877552.94497299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877553.00509501 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788877553.58481121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180786 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252694 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814761 ms (missed cycles : 3).[0m ×2 | ||||