MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.6s	12 errors · 318 warnings · 1529 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-17-04-49-645657-7bb8e9a8d873-7562 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.35sINFOstatic_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' + 4.35sINFOstatic_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' + 4.35sINFOstatic_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' + 4.37sINFOstatic_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' + 4.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.60sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.62sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.62sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.63sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.66sINFOros2_control_node-12process started with pid [7704] ×2 + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.66sINFOmove_group-24process started with pid [7720] ×2 + 4.66sINFOparameter_manager_node-25process started with pid [7767] ×2 + 4.66sINFOwaypoint_manager_node-26process started with pid [7768] ×2 + 4.66sINFOmove_joint_resampler_node-27process started with pid [7769] ×2 + 4.66sINFOmove_end_effector_resampler_node-28process started with pid [7770] ×2 + 4.66sINFOobjective_server_node_main-29process started with pid [7771] ×2 + 4.66sINFOcomponent_container_mt-30process started with pid [7772] ×2 + 4.66sINFOcomponent_container_mt-31process started with pid [7773] ×2 + 4.66sINFOexecute_objective_bridge-32process started with pid [7774] ×2 + 4.66sINFOui_teleop_bridge-33process started with pid [7775] ×2 + 4.66sINFOweb_bridge-34process started with pid [7776] ×2 + 4.66sINFOtf2_web_republisher_node-35process started with pid [7777] ×2 + 4.66sINFOvideo_server-36process started with pid [7778] ×2 + 4.67sINFOweb_bridge_auth_proxy-37process started with pid [7781] ×2 + 4.67sINFOweb_video_auth_proxy-38process started with pid [7782] ×2 + 4.67sINFOcomponent_container_isolated-1process started with pid [7612] ×2 + 4.67sINFOcomponent_container_isolated-2process started with pid [7613] ×2 + 4.67sINFOstatic_transform_publisher-3process started with pid [7614] ×2 + 4.67sINFOstatic_transform_publisher-4process started with pid [7615] ×2 + 4.67sINFOodom_qos_relay.py-5process started with pid [7616] ×2 + 4.67sINFOforward_stereo_publisher.py-6process started with pid [7617] ×2 + 4.67sINFOlidar_flattener.py-7process started with pid [7618] ×2 + 4.67sINFOstatic_transform_publisher-8process started with pid [7619] ×2 + 4.67sINFOstatic_transform_publisher-9process started with pid [7620] ×2 + 4.67sINFOscan_to_scan_filter_chain-10process started with pid [7702] ×2 + 4.67sINFOscan_to_scan_filter_chain-11process started with pid [7703] ×2 + 4.67sINFOros2-13process started with pid [7705] ×2 + 4.67sINFOros2-14process started with pid [7706] ×2 + 4.67sINFOros2-15process started with pid [7707] ×2 + 4.67sINFOros2-16process started with pid [7708] ×2 + 4.67sINFOros2-17process started with pid [7709] ×2 + 4.67sINFOros2-18process started with pid [7712] ×2 + 4.67sINFOros2-19process started with pid [7713] ×2 + 4.67sINFOros2-20process started with pid [7714] ×2 + 4.67sINFOros2-21process started with pid [7715] ×2 + 4.67sINFOros2-22process started with pid [7716] ×2 + 4.67sINFOros2-23process started with pid [7717] ×2 + 4.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.69sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.71sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.71sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.71sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.71sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.71sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.72sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.72sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.72sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.73sINFOcontroller_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. + 4.73sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.73sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.75sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.76sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.79sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.79sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.81sINFOcontroller_managerupdate rate is 600 Hz + 4.81sINFOcontroller_managerOverruns handling is : enabled + 4.81sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.81sWARNcontroller_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. + 4.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.81sWARNros2_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 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988630 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988630 ms (missed cycles : 5).[0m ×2 + 4.85sINFOmap_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. + 4.85sINFOmap_serverCreating + 4.85sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.86sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.86sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.88sINFOcontroller_serverCreating controller server + 4.89sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.89sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.90sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.92sINFOlocal_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. + 4.94sINFOlocal_costmap.local_costmapCreating Costmap + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.97sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.97sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.97sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.98sINFOsmoother_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. + 4.99sINFOrobot_state_publisherRobot initialized + 4.99sINFOcontroller_managerReceived robot description from topic. + 4.99sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.99sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.99sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.99sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.00sINFOlifecycle_manager_localizationCreating + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.02sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.02sINFOsmoother_serverCreating smoother server + 5.04sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.04sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.04sINFOmap_serverConfiguring + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.06sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.06sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.07sINFOvideo_server2026/09/04 17:04:56 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.07sINFOvideo_server2026/09/04 17:04:56 INF configuration loaded from /tmp/moveit-webrtc-ye0aldhq/mediamtx.yml ×2 + 5.07sINFOvideo_server2026/09/04 17:04:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.07sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.07sINFOvideo_server2026/09/04 17:04:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.09sINFOplanner_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. + 5.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.13sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.13sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.15sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.15sINFOamclConfiguring + 5.16sINFOplanner_serverCreating + 5.16sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.16sINFOmap_serverActivating + 5.17sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.21sINFOglobal_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. + 5.22sINFOglobal_costmap.global_costmapCreating Costmap + 5.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.28sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.28sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.28sINFOamclActivating + 5.28sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.28sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.30sINFObehavior_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. + 5.30sINFOamclSubscribed to map_topic: /map + 5.30sINFOamclSubscribed to scan_topic: /scan_merged + 5.32sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.32sINFOamclCreated reinitialize_global_localization service + 5.33sINFOamclCreated request_nomotion_update service + 5.33sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.33sINFOamclA new map was received + 5.33sINFOamclInitializing particle filter instance + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.35sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.35sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.36sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.40sINFObt_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. + 5.42sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.296953 seconds + 5.42sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.42sINFOmove_groupLoaded robot model in 0.296953 seconds[0m ×2 + 5.42sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.42sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.42sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.44sINFObt_navigatorCreating + 5.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.48sINFOwaypoint_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. + 5.49sINFOwaypoint_followerCreating + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.51sWARNlaser_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. + 5.51sWARNscan_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 + 5.53sWARNlaser_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. + 5.53sINFOvelocity_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. + 5.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.58sINFOlifecycle_manager_navigationCreating + 5.60sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.63sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.63sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.63sINFOcontroller_serverConfiguring controller interface + 5.63sINFOcontroller_servergetting progress checker plugins.. + 5.63sINFOcontroller_servergetting goal checker plugins.. + 5.63sINFOcontroller_serverController frequency set to 20.0000Hz + 5.63sINFOlocal_costmap.local_costmapConfiguring + 5.63sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.65sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.70sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.70sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.70sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.76sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.76sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.78sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.79sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.80sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.83sINFOcontroller_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 + 5.84sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.84sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.85sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.85sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.85sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.85sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.86sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.86sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.86sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.87sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.87sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.87sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.87sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.89sINFOcontroller_serverOptimizer reset ×2 + 5.92sINFOcontroller_serverController Server has FollowPath controllers available. + 5.93sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.93sINFOsmoother_serverConfiguring smoother server + 5.96sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.96sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.98sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.98sINFOplanner_serverConfiguring + 5.98sINFOglobal_costmap.global_costmapConfiguring + 6.01sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.01sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.01sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.01sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.02sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.03sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.03sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.04sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.04sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.04sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.08sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.08sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.08sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.09sINFOplanner_serverPlanner Server has GridBased planners available. + 6.12sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.12sINFObehavior_serverConfiguring + 6.13sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.14sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.14sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.15sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.15sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.16sINFObehavior_serverConfiguring spin + 6.17sINFObehavior_serverConfiguring backup + 6.18sINFObehavior_serverConfiguring drive_on_heading + 6.19sINFObehavior_serverConfiguring assisted_teleop + 6.21sINFObehavior_serverConfiguring wait + 6.21sINFOamclParticle filter initialization completed + 6.21sINFOamclInitializing particles from estimated pose and covariance + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.662856 ms (missed cycles : 6). + 6.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.662856 ms (missed cycles : 6).[0m ×2 + 6.22sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.22sINFObt_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 + 6.29sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.29sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.29sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.32sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.35sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.35sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.36sWARNmove_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. + 6.36sWARNmove_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. + 6.36sWARNmove_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 + 6.36sWARNmove_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 + 6.36sWARNmove_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. + 6.36sWARNmove_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. + 6.36sWARNmove_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 + 6.36sWARNmove_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. + 6.36sWARNmove_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 + 6.36sWARNmove_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. + 6.36sWARNmove_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 + 6.36sWARNmove_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 + 6.36sWARNmove_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. + 6.36sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.36sWARNmove_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. + 6.36sWARNmove_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 + 6.36sWARNmove_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. + 6.36sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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 + 6.40sINFOwaypoint_manager_nodeLoaded robot model in 0.303659 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 + 6.41sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.41sINFOwaypoint_followerConfiguring + 6.44sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.45sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.45sINFOvelocity_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. ×16 + 6.59sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.59sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.59sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.59sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.61sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.61sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.71sINFOmove_group[2026-09-04 17:04:58.106] [moveit_pro_license] [info] ×2 + 6.71sINFOmove_group************************************************* ×4 + 6.71sINFOmove_group* MoveIt Pro License ×2 + 6.71sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.97sWARNwaypoint_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. + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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. + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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. + 7.00sWARNwaypoint_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 + 7.00sWARNwaypoint_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 + 7.01sWARNwaypoint_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 + 7.01sWARNwaypoint_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. + 7.01sWARNwaypoint_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 + 7.01sWARNwaypoint_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. + 7.01sWARNwaypoint_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 + 7.01sWARNwaypoint_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 + 7.21sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.21sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.21sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.21sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.22sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.22sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.22sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.22sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.22sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.22sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.22sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.22sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.22sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.22sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.36sINFOwaypoint_manager_node[2026-09-04 17:04:58.761] [moveit_pro_license] [info] ×2 + 7.36sINFOwaypoint_manager_node************************************************* ×4 + 7.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.43sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.43sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.43sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.43sWARNros2_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 + 7.43sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.43sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.43sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.43sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.43sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.43sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.43sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.43sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.43sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.43sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.43sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.43sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.43sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.43sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.43sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.43sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.43sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.43sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.44sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.44sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.44sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.44sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933863 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933863 ms (missed cycles : 2).[0m ×2 + 7.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 7.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 7.57sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.57sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.57sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.57sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.57sINFOforce_torque_sensor_broadcasterconfigure successful + 7.57sINFOros2_control_nodeconfigure successful[0m ×6 + 7.58sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.58sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.58sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.58sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.58sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.67sINFOobjective_server_node[2026-09-04 17:04:59.072] [moveit_pro_license] [info] ×2 + 7.67sINFOobjective_server_node************************************************* ×4 + 7.67sINFOobjective_server_node* MoveIt Pro License ×2 + 7.67sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.70sINFOros2_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 + 7.70sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.70sWARNros2_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 + 7.72sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.72sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.73sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.75sINFOobjective_server_nodeLoaded robot model in 0.0309803 seconds[0m ×2 + 7.75sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.75sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 7.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.98sINFOros2-13process has finished cleanly [pid 7705] ×2 + 8.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.05sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 8.05sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.06sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.10sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.11sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.11sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.11sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.11sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.11sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.11sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.11sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.11sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.11sINFOstreaming_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) + 8.11sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.11sINFOcomponent_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 + 8.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.12sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.12sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.12sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.17sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.19sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.32sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.32sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.32sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.32sWARNobjective_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. + 8.32sWARNobjective_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. + 8.33sWARNobjective_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. + 8.33sWARNobjective_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. + 8.33sWARNobjective_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 + 8.33sWARNobjective_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 + 8.33sWARNobjective_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. + 8.33sWARNobjective_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 + 8.33sWARNobjective_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. + 8.33sWARNobjective_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 + 8.33sWARNobjective_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. + 8.33sWARNobjective_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 + 8.33sWARNobjective_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 + 8.33sWARNobjective_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. + 8.33sWARNobjective_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 + 8.33sWARNobjective_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 + 8.33sWARNobjective_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. + 8.33sWARNobjective_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. + 8.33sWARNobjective_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 + 8.33sWARNobjective_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 + 8.34sINFOstreaming_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) + 8.34sINFOcomponent_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 + 8.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.41sINFOobjective_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 + 8.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.43sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902686 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902686 ms (missed cycles : 2).[0m ×2 + 8.60sINFOcomponent_container_mtLoaded robot model in 0.410235 seconds[0m ×2 + 8.60sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.60sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.62sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.64sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.64sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.69sINFOros2_control_node[2026-09-04 17:05:00.091] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.69sINFOros2_control_node[2026-09-04 17:05:00.093] [info] Controller state will be published at 10 Hz. ×2 + 8.69sINFOros2_control_node[2026-09-04 17:05:00.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.94sINFOmove_groupMoveGroup debug mode is ON + 8.94sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.94sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.99sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.07sINFOros2-21process has finished cleanly [pid 7715] ×2 + 9.08sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 9.08sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 9.10sINFOmove_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 ****************************************************** + 9.10sINFOmove_group ×8 + 9.10sINFOmove_group****************************************************** ×4 + 9.10sINFOmove_group* MoveGroup using: ×2 + 9.10sINFOmove_group* - apply_planning_scene_service ×2 + 9.10sINFOmove_group* - clear_octomap_service ×2 + 9.10sINFOmove_group* - get_group_urdf ×2 + 9.10sINFOmove_group* - load_geometry_from_file ×2 + 9.10sINFOmove_group* - get_planning_scene_service ×2 + 9.10sINFOmove_group* - kinematics_service ×2 + 9.10sINFOmove_group* - save_geometry_to_file ×2 + 9.10sINFOmove_group* - GetPlanningGroups ×2 + 9.10sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.10sINFOmove_group[0m ×2 + 9.10sINFOmove_group[92mYou can start planning now![0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.15sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.15sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.15sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.33sINFOcomponent_container_mt[2026-09-04 17:05:00.732] [moveit_pro_license] [info] ×2 + 9.33sINFOcomponent_container_mt************************************************* ×4 + 9.33sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.33sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122893 ms (missed cycles : 5). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122893 ms (missed cycles : 5).[0m ×2 + 9.61sWARNobjective_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 + 9.63sINFOros2_control_node[2026-09-04 17:05:01.033] [info] Controller state will be published at 20 Hz. ×2 + 9.63sINFOros2_control_node[2026-09-04 17:05:01.035] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.77sWARNros2_control_nodeCamera render tick took 1.09 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.78sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.78sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.80sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.80sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.80sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.80sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.94sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.94sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.94sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.94sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.94sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 9.95sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 9.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.00sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.00sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.00sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.00sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.01sINFOros2-23process has finished cleanly [pid 7717] ×2 + 10.01sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.01sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.01sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.01sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.33sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.33sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.33sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.33sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.34sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 10.34sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 10.38sINFOros2-14process has finished cleanly [pid 7706] ×2 + 10.39sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.39sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.39sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.40sINFOplatform_velocity_controllerconfigure successful + 10.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.40sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.40sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007716 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007716 ms (missed cycles : 3).[0m ×2 + 10.82sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.82sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.82sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.82sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.82sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788541500.082 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.82sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 10.82sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 10.84sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.88sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.88sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.88sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.88sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.88sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.89sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.90sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.90sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.90sINFOros2-16process has finished cleanly [pid 7708] ×2 + 10.96sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.20sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.20sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.20sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.20sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 11.20sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.20sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 11.25sINFOros2-17process has finished cleanly [pid 7709] ×2 + 11.26sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.26sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.27sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.27sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043060 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043060 ms (missed cycles : 3).[0m ×2 + 11.80sINFOros2_control_node[2026-09-04 17:05:03.200] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.80sINFOros2_control_node[2026-09-04 17:05:03.202] [info] Controller state will be published at 10 Hz. ×2 + 11.80sINFOros2_control_node[2026-09-04 17:05:03.203] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.13sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.13sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 12.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.13sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 12.19sINFOros2-20process has finished cleanly [pid 7714] ×2 + 12.19sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.20sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.20sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.20sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.20sINFOplatform_velocity_controller_nav2configure successful + 12.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 12.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 12.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.60sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.60sINFOros2-18process has finished cleanly [pid 7712] ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308656 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308656 ms (missed cycles : 3).[0m ×2 + 13.15sINFOros2_control_node[2026-09-04 17:05:04.555] [info] Controller state will be published at 20 Hz. ×2 + 13.16sINFOros2_control_node[2026-09-04 17:05:04.556] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.47sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.47sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.47sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 13.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 13.56sINFOros2-22process has finished cleanly [pid 7716] ×2 + 13.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.57sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.57sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.57sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.57sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.57sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.58sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.86sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788541503.655 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454680 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454680 ms (missed cycles : 3).[0m ×2 + 13.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 13.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 13.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 13.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 13.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec + 13.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5j_m3nl6 --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_vhbfr94n --params-file /tmp/launch_params_124smsec [0m ×2 + 13.95sINFOros2-19process has finished cleanly [pid 7713] ×2 + 13.97sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 13.97sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 13.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 13.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 13.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 13.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 13.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 13.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 13.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 13.99sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 14.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.36sINFOros2-15process has finished cleanly [pid 7707] ×2 + 14.46sINFOlocal_costmap.local_costmapstart + 14.56sWARNcontroller_serverParameter controller_server.verbose not found + 14.57sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 14.67sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 14.67sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 14.67sINFOsmoother_serverActivating + 14.67sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 14.69sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 5.484ms + 14.78sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 14.78sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 14.78sINFOplanner_serverActivating + 14.78sINFOglobal_costmap.global_costmapActivating + 14.78sINFOglobal_costmap.global_costmapChecking transform + 14.78sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788541506.147732, but only time 1788541506.498087 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009121 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009121 ms (missed cycles : 2).[0m ×2 + 15.23sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.28sINFOglobal_costmap.global_costmapstart + 15.84sWARNros2_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 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667082 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667082 ms (missed cycles : 3).[0m ×2 + 16.33sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 16.33sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 16.43sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 16.43sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 16.43sINFObehavior_serverActivating + 16.43sINFObehavior_serverActivating spin + 16.43sINFObehavior_serverActivating backup + 16.43sINFObehavior_serverActivating drive_on_heading + 16.43sINFObehavior_serverActivating assisted_teleop + 16.43sINFObehavior_serverActivating wait + 16.43sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 16.54sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 16.54sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 16.54sINFObt_navigatorActivating + 16.60sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 16.71sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 16.71sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 16.71sINFOwaypoint_followerActivating + 16.71sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.81sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.81sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.81sINFOvelocity_smootherActivating + 16.81sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.92sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.92sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.92sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 17.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 19.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.35sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.35sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.35sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.35sINFOobjective_server_nodecaller: ×10 + 19.35sINFOobjective_server_nodetype: 0 ×10 + 19.35sINFOobjective_server_nodename: "" ×10 + 19.35sINFOobjective_server_nodeinstance_id: "" ×10 + 19.35sINFOobjective_server_node ×10 + 19.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.39sINFOmove_groupClearing octomap...[0m ×2 + 19.39sINFOmove_groupOctomap cleared.[0m ×2 + 19.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 19.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 20.34sWARNros2_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 + 20.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 20.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 21.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 21.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.32sINFOobjective_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 + 21.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 21.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 21.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	66.4s	3 errors · 287 warnings · 254 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.137ms + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.676ms + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209070 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209070 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.207ms + 1.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.333ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235952 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235952 ms (missed cycles : 5).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.223ms + 2.95sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 8.110ms + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOjoint_trajectory_controllerGot request to cancel goal + 3.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sERRORobjective_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: 1788541721.86759853 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707645 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707645 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.55sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 6.885ms + 3.57sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.57sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×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 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788541722.45139194 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 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.10sWARNros2_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 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.522ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748754 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748754 ms (missed cycles : 5).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489894 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489894 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.35sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714857 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714857 ms (missed cycles : 3).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400005 ms (missed cycles : 3). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400005 ms (missed cycles : 3).[0m ×2 + 8.74sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.029ms + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202038 ms (missed cycles : 2). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202038 ms (missed cycles : 2).[0m ×2 + 9.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.811ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.366ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068685 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068685 ms (missed cycles : 3).[0m ×2 + 10.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.556ms + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676935 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676935 ms (missed cycles : 2).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 3752 particles 723 points - 7.239ms + 11.66sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 4.884ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044930 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044930 ms (missed cycles : 2).[0m ×2 + 12.27sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 3.053ms + 12.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720594 ms (missed cycles : 4). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720594 ms (missed cycles : 4).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 14.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189985 ms (missed cycles : 3). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189985 ms (missed cycles : 3).[0m ×2 + 14.62sWARNros2_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 ×4 + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 15.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684876 ms (missed cycles : 4). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684876 ms (missed cycles : 4).[0m ×2 + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031388 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031388 ms (missed cycles : 2).[0m ×2 + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 17.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409380 ms (missed cycles : 3). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409380 ms (missed cycles : 3).[0m ×2 + 17.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 18.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495736 ms (missed cycles : 2). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495736 ms (missed cycles : 2).[0m ×2 + 18.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 19.55sWARNros2_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 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870550 ms (missed cycles : 3). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870550 ms (missed cycles : 3).[0m ×2 + 20.17sWARNros2_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 + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.919ms + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573468 ms (missed cycles : 3). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573468 ms (missed cycles : 3).[0m ×2 + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656719 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656719 ms (missed cycles : 2).[0m ×2 + 22.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718747 ms (missed cycles : 2). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718747 ms (missed cycles : 2).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686484 ms (missed cycles : 2). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686484 ms (missed cycles : 2).[0m ×2 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719194 ms (missed cycles : 4). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719194 ms (missed cycles : 4).[0m ×2 + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 25.77sWARNros2_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 ×6 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958449 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958449 ms (missed cycles : 2).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.579ms + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942120 ms (missed cycles : 3). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942120 ms (missed cycles : 3).[0m ×2 + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032987 ms (missed cycles : 2). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032987 ms (missed cycles : 2).[0m ×2 + 28.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741496 ms (missed cycles : 3). + 29.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741496 ms (missed cycles : 3).[0m ×2 + 29.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 30.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.19sWARNros2_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 + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038421 ms (missed cycles : 4). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038421 ms (missed cycles : 4).[0m ×2 + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.201ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301046 ms (missed cycles : 3). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301046 ms (missed cycles : 3).[0m ×2 + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 32.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804309 ms (missed cycles : 2). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804309 ms (missed cycles : 2).[0m ×2 + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235510 ms (missed cycles : 3). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235510 ms (missed cycles : 3).[0m ×2 + 34.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 34.73sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.73sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711844 ms (missed cycles : 5). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711844 ms (missed cycles : 5).[0m ×2 + 35.21sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 35.42sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.89sWARNros2_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 ×6 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696961 ms (missed cycles : 3). + 36.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696961 ms (missed cycles : 3).[0m ×2 + 36.80sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069311 ms (missed cycles : 5). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069311 ms (missed cycles : 5).[0m ×2 + 38.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743141 ms (missed cycles : 4). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743141 ms (missed cycles : 4).[0m ×2 + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642647 ms (missed cycles : 4). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642647 ms (missed cycles : 4).[0m ×2 + 39.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 40.30sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 40.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023779 ms (missed cycles : 2). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023779 ms (missed cycles : 2).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553303 ms (missed cycles : 3). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553303 ms (missed cycles : 3).[0m ×2 + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487990 ms (missed cycles : 3). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487990 ms (missed cycles : 3).[0m ×2 + 42.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218781 ms (missed cycles : 4). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218781 ms (missed cycles : 4).[0m ×2 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296360 ms (missed cycles : 2). + 44.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296360 ms (missed cycles : 2).[0m ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666664 ms (missed cycles : 4). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666664 ms (missed cycles : 4).[0m ×2 + 45.93sWARNros2_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 + 45.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 46.55sWARNros2_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 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403244 ms (missed cycles : 3). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403244 ms (missed cycles : 3).[0m ×2 + 47.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236658 ms (missed cycles : 3). + 47.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236658 ms (missed cycles : 3).[0m ×2 + 47.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.088ms + 48.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 48.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503999 ms (missed cycles : 4). + 48.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503999 ms (missed cycles : 4).[0m ×2 + 49.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660091 ms (missed cycles : 4). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660091 ms (missed cycles : 4).[0m ×2 + 50.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 50.62sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 51.02sWARNros2_control_nodeCamera render tick took 0.66 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969297 ms (missed cycles : 2). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969297 ms (missed cycles : 2).[0m ×2 + 52.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225899 ms (missed cycles : 3). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225899 ms (missed cycles : 3).[0m ×2 + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242996 ms (missed cycles : 2). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242996 ms (missed cycles : 2).[0m ×2 + 54.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285649 ms (missed cycles : 2). + 54.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285649 ms (missed cycles : 2).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.374ms + 55.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242712 ms (missed cycles : 3). + 55.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242712 ms (missed cycles : 3).[0m ×2 + 56.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 56.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814628 ms (missed cycles : 2). + 56.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814628 ms (missed cycles : 2).[0m ×2 + 56.66sWARNros2_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 + 56.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984139 ms (missed cycles : 2). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984139 ms (missed cycles : 2).[0m ×2 + 57.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 58.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789368 ms (missed cycles : 2). + 58.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789368 ms (missed cycles : 2).[0m ×2 + 59.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.326ms + 60.06sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 60.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972461 ms (missed cycles : 3). + 60.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972461 ms (missed cycles : 3).[0m ×2 + 61.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927192 ms (missed cycles : 3). + 61.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927192 ms (missed cycles : 3).[0m ×2 + 62.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685781 ms (missed cycles : 2). + 62.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685781 ms (missed cycles : 2).[0m ×2 + 63.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180423 ms (missed cycles : 2). + 63.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180423 ms (missed cycles : 2).[0m ×2 + 64.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 64.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962067 ms (missed cycles : 3). + 64.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962067 ms (missed cycles : 3).[0m ×2 + 65.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016615 ms (missed cycles : 3). + 65.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016615 ms (missed cycles : 3).[0m ×2 + 66.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633328 ms (missed cycles : 2). + 66.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633328 ms (missed cycles : 2).[0m ×2 + 66.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.345ms + 67.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134017 ms (missed cycles : 2). + 67.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134017 ms (missed cycles : 2).[0m ×2 + 67.70sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 67.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 68.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737208 ms (missed cycles : 4). + 68.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737208 ms (missed cycles : 4).[0m ×2 + 68.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 69.46sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788541788.26155210 seconds ×3 + 69.57sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.57sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952162 ms (missed cycles : 2). + 69.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952162 ms (missed cycles : 2).[0m ×2 + 70.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 70.00sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 70.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788541788.83288527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 70.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.475ms + 70.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388162 ms (missed cycles : 3). + 70.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388162 ms (missed cycles : 3).[0m ×2 + 71.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894717 ms (missed cycles : 3). + 71.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894717 ms (missed cycles : 3).[0m ×2 + 72.89sWARNros2_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 + 72.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 72.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	248 warnings · 200 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.96sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788541794.65302515 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788541795.22809601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470497 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470497 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650067 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650067 ms (missed cycles : 2).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.676ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259380 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259380 ms (missed cycles : 3).[0m ×2 + 9.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.744ms + 10.25sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.885ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616307 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616307 ms (missed cycles : 4).[0m ×2 + 10.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 10.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.191ms + 11.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.754ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071458 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071458 ms (missed cycles : 2).[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.319ms + 12.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.374ms + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939696 ms (missed cycles : 5). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939696 ms (missed cycles : 5).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.980ms + 13.79sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 7.018ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679547 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679547 ms (missed cycles : 2).[0m ×2 + 14.36sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 5.673ms + 14.96sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 4.291ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412538 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412538 ms (missed cycles : 3).[0m ×2 + 15.55sWARNros2_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 + 15.58sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.918ms + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723628 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723628 ms (missed cycles : 2).[0m ×2 + 16.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299183 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299183 ms (missed cycles : 2).[0m ×2 + 17.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590187 ms (missed cycles : 4). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590187 ms (missed cycles : 4).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001038 ms (missed cycles : 4). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001038 ms (missed cycles : 4).[0m ×2 + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 20.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms ×2 + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122391 ms (missed cycles : 3). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122391 ms (missed cycles : 3).[0m ×2 + 21.04sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 21.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 21.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127982 ms (missed cycles : 3). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127982 ms (missed cycles : 3).[0m ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692943 ms (missed cycles : 3). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692943 ms (missed cycles : 3).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 24.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400958 ms (missed cycles : 3). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400958 ms (missed cycles : 3).[0m ×2 + 24.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971560 ms (missed cycles : 3). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971560 ms (missed cycles : 3).[0m ×2 + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms ×2 + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042503 ms (missed cycles : 2). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042503 ms (missed cycles : 2).[0m ×2 + 26.64sWARNros2_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 + 26.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451933 ms (missed cycles : 2). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451933 ms (missed cycles : 2).[0m ×2 + 27.27sWARNros2_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 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379987 ms (missed cycles : 4). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379987 ms (missed cycles : 4).[0m ×2 + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874384 ms (missed cycles : 4). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874384 ms (missed cycles : 4).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277514 ms (missed cycles : 2). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277514 ms (missed cycles : 2).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141292 ms (missed cycles : 4). + 31.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141292 ms (missed cycles : 4).[0m ×2 + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 32.22sWARNros2_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 ×4 + 32.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704873 ms (missed cycles : 2). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704873 ms (missed cycles : 2).[0m ×2 + 32.87sWARNros2_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 + 33.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078032 ms (missed cycles : 4). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078032 ms (missed cycles : 4).[0m ×2 + 34.71sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531088 ms (missed cycles : 3). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531088 ms (missed cycles : 3).[0m ×2 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903393 ms (missed cycles : 3). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903393 ms (missed cycles : 3).[0m ×2 + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288737 ms (missed cycles : 4). + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288737 ms (missed cycles : 4).[0m ×2 + 37.23sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467363 ms (missed cycles : 3). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467363 ms (missed cycles : 3).[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325192 ms (missed cycles : 2). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325192 ms (missed cycles : 2).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379873 ms (missed cycles : 4). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379873 ms (missed cycles : 4).[0m ×2 + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340179 ms (missed cycles : 3). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340179 ms (missed cycles : 3).[0m ×2 + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 41.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705528 ms (missed cycles : 2). + 41.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705528 ms (missed cycles : 2).[0m ×2 + 42.31sWARNros2_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 + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985674 ms (missed cycles : 3). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985674 ms (missed cycles : 3).[0m ×2 + 44.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199635 ms (missed cycles : 3). + 44.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199635 ms (missed cycles : 3).[0m ×2 + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752035 ms (missed cycles : 4). + 45.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752035 ms (missed cycles : 4).[0m ×2 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362158 ms (missed cycles : 3). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362158 ms (missed cycles : 3).[0m ×2 + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056531 ms (missed cycles : 2). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056531 ms (missed cycles : 2).[0m ×2 + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105741 ms (missed cycles : 2). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105741 ms (missed cycles : 2).[0m ×2 + 48.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320844 ms (missed cycles : 2). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320844 ms (missed cycles : 2).[0m ×2 + 50.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 50.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307916 ms (missed cycles : 3). + 50.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307916 ms (missed cycles : 3).[0m ×2 + 51.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746909 ms (missed cycles : 3). + 51.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746909 ms (missed cycles : 3).[0m ×2 + 52.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 52.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499356 ms (missed cycles : 2). + 52.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499356 ms (missed cycles : 2).[0m ×2 + 53.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102192 ms (missed cycles : 3). + 53.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102192 ms (missed cycles : 3).[0m ×2 + 54.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920876 ms (missed cycles : 3). + 54.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920876 ms (missed cycles : 3).[0m ×2 + 55.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704767 ms (missed cycles : 3). + 55.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704767 ms (missed cycles : 3).[0m ×2 + 57.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506597 ms (missed cycles : 3). + 57.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506597 ms (missed cycles : 3).[0m ×2 + 58.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140908 ms (missed cycles : 2). + 58.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140908 ms (missed cycles : 2).[0m ×2 + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694733 ms (missed cycles : 5). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694733 ms (missed cycles : 5).[0m ×2 + 60.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694186 ms (missed cycles : 2). + 60.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694186 ms (missed cycles : 2).[0m ×2 + 60.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.644ms + 60.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788541852.09831762 seconds ×3 + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788541852.67772532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220687 ms (missed cycles : 5). + 61.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220687 ms (missed cycles : 5).[0m ×2 + 61.41sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 61.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.308ms + 61.76sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460452 ms (missed cycles : 3). + 62.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460452 ms (missed cycles : 3).[0m ×2 + 63.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910560 ms (missed cycles : 3). + 63.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910560 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.4s	245 warnings · 207 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541899 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541899 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741683 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741683 ms (missed cycles : 3).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606413 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606413 ms (missed cycles : 3).[0m ×2 + 2.26sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.38sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788541562.62025571 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×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 + 2.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788541563.20113468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006425 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006425 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.44sINFOamclParticle filter update iteration stats: 2544 particles 723 points - 2.980ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397470 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397470 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653517 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653517 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052674 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052674 ms (missed cycles : 5).[0m ×2 + 7.38sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666252 ms (missed cycles : 4). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666252 ms (missed cycles : 4).[0m ×2 + 7.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 7.95sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 3.881ms + 8.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957570 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957570 ms (missed cycles : 3).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 4.504ms + 9.62sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 2.943ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473846 ms (missed cycles : 4). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473846 ms (missed cycles : 4).[0m ×2 + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.384ms + 10.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782174 ms (missed cycles : 3). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782174 ms (missed cycles : 3).[0m ×2 + 11.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782158 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782158 ms (missed cycles : 2).[0m ×2 + 12.44sWARNros2_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 + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms ×2 + 13.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308212 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308212 ms (missed cycles : 2).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083868 ms (missed cycles : 4). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083868 ms (missed cycles : 4).[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037115 ms (missed cycles : 4). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037115 ms (missed cycles : 4).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657393 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657393 ms (missed cycles : 3).[0m ×2 + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684245 ms (missed cycles : 5). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684245 ms (missed cycles : 5).[0m ×2 + 17.78sWARNros2_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 ×10 + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 18.40sWARNros2_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 + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212240 ms (missed cycles : 4). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212240 ms (missed cycles : 4).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412917 ms (missed cycles : 3). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412917 ms (missed cycles : 3).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.539664 ms (missed cycles : 6). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.539664 ms (missed cycles : 6).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786176 ms (missed cycles : 3). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786176 ms (missed cycles : 3).[0m ×2 + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913963 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913963 ms (missed cycles : 2).[0m ×2 + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.924ms + 23.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882731 ms (missed cycles : 3). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882731 ms (missed cycles : 3).[0m ×2 + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639989 ms (missed cycles : 4). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639989 ms (missed cycles : 4).[0m ×2 + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732525 ms (missed cycles : 2). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732525 ms (missed cycles : 2).[0m ×2 + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830208 ms (missed cycles : 3). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830208 ms (missed cycles : 3).[0m ×2 + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.571827 ms (missed cycles : 4). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.571827 ms (missed cycles : 4).[0m ×2 + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 29.22sWARNros2_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 + 29.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944916 ms (missed cycles : 3). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944916 ms (missed cycles : 3).[0m ×2 + 29.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497770 ms (missed cycles : 4). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497770 ms (missed cycles : 4).[0m ×2 + 30.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 31.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885343 ms (missed cycles : 2). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885343 ms (missed cycles : 2).[0m ×2 + 31.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 32.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553899 ms (missed cycles : 2). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553899 ms (missed cycles : 2).[0m ×2 + 32.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046707 ms (missed cycles : 5). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046707 ms (missed cycles : 5).[0m ×2 + 34.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 34.15sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964278 ms (missed cycles : 2). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964278 ms (missed cycles : 2).[0m ×2 + 36.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117832 ms (missed cycles : 2). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117832 ms (missed cycles : 2).[0m ×2 + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018660 ms (missed cycles : 3). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018660 ms (missed cycles : 3).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844228 ms (missed cycles : 2). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844228 ms (missed cycles : 2).[0m ×2 + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269266 ms (missed cycles : 2). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269266 ms (missed cycles : 2).[0m ×2 + 39.59sWARNros2_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 + 40.23sWARNros2_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 + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879794 ms (missed cycles : 3). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879794 ms (missed cycles : 3).[0m ×2 + 40.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898416 ms (missed cycles : 2). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898416 ms (missed cycles : 2).[0m ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976773 ms (missed cycles : 5). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976773 ms (missed cycles : 5).[0m ×2 + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949751 ms (missed cycles : 4). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949751 ms (missed cycles : 4).[0m ×2 + 44.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493303 ms (missed cycles : 3). + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493303 ms (missed cycles : 3).[0m ×2 + 45.09sWARNros2_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 + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000129 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000129 ms (missed cycles : 2).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725868 ms (missed cycles : 2). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725868 ms (missed cycles : 2).[0m ×2 + 47.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014283 ms (missed cycles : 2). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014283 ms (missed cycles : 2).[0m ×2 + 48.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058536 ms (missed cycles : 5). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058536 ms (missed cycles : 5).[0m ×2 + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480742 ms (missed cycles : 3). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480742 ms (missed cycles : 3).[0m ×2 + 50.56sWARNros2_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 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169560 ms (missed cycles : 2). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169560 ms (missed cycles : 2).[0m ×2 + 51.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656489 ms (missed cycles : 2). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656489 ms (missed cycles : 2).[0m ×2 + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012842 ms (missed cycles : 3). + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012842 ms (missed cycles : 3).[0m ×2 + 54.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929650 ms (missed cycles : 3). + 54.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929650 ms (missed cycles : 3).[0m ×2 + 55.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871293 ms (missed cycles : 2). + 55.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871293 ms (missed cycles : 2).[0m ×2 + 55.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.809ms + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614764 ms (missed cycles : 3). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614764 ms (missed cycles : 3).[0m ×2 + 57.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2). + 57.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2).[0m ×2 + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3).[0m ×2 + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4).[0m ×2 + 59.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 59.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788541620.03137517 seconds ×3 + 59.95sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.96sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.35sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.37sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788541620.61373329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2). + 60.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2).[0m ×2 + 60.79sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 60.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.261ms + 61.13sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2). + 61.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2).[0m ×2 + 62.07sWARNros2_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 + 62.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2). + 62.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	51.9s	245 warnings · 219 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5).[0m ×2 + 2.49sWARNros2_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 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.85sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788541659.06311321 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.14sWARNros2_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 ×6 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788541659.64553714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3).[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.16sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.16sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999371 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999371 ms (missed cycles : 3).[0m ×2 + 7.71sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159129 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159129 ms (missed cycles : 2).[0m ×2 + 8.29sWARNros2_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 + 8.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.837ms + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217952 ms (missed cycles : 4). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217952 ms (missed cycles : 4).[0m ×2 + 9.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.309ms + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008001 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008001 ms (missed cycles : 2).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.885ms + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.907ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565824 ms (missed cycles : 4). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565824 ms (missed cycles : 4).[0m ×2 + 11.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.222ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.524ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784851 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784851 ms (missed cycles : 3).[0m ×2 + 12.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.710ms + 12.96sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.752ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167559 ms (missed cycles : 3). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167559 ms (missed cycles : 3).[0m ×2 + 13.58sWARNros2_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 + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.511ms + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134505 ms (missed cycles : 3). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134505 ms (missed cycles : 3).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.587ms + 14.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.832ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148253 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148253 ms (missed cycles : 3).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 4187 particles 723 points - 8.465ms + 16.00sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 10.443ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785516 ms (missed cycles : 5). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785516 ms (missed cycles : 5).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 4.640ms + 17.24sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 3.984ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547429 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547429 ms (missed cycles : 3).[0m ×2 + 17.86sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 4.109ms + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571347 ms (missed cycles : 2). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571347 ms (missed cycles : 2).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.157ms + 19.11sWARNros2_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 + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108861 ms (missed cycles : 2). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108861 ms (missed cycles : 2).[0m ×2 + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.115ms + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457924 ms (missed cycles : 4). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457924 ms (missed cycles : 4).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314090 ms (missed cycles : 5). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314090 ms (missed cycles : 5).[0m ×2 + 22.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.427ms + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001145 ms (missed cycles : 4). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001145 ms (missed cycles : 4).[0m ×2 + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608869 ms (missed cycles : 3). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608869 ms (missed cycles : 3).[0m ×2 + 24.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 24.69sWARNros2_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 ×6 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487007 ms (missed cycles : 4). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487007 ms (missed cycles : 4).[0m ×2 + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411322 ms (missed cycles : 4). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411322 ms (missed cycles : 4).[0m ×2 + 26.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372464 ms (missed cycles : 3). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372464 ms (missed cycles : 3).[0m ×2 + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503715 ms (missed cycles : 4). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503715 ms (missed cycles : 4).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442980 ms (missed cycles : 3). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442980 ms (missed cycles : 3).[0m ×2 + 29.57sWARNros2_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 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415817 ms (missed cycles : 3). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415817 ms (missed cycles : 3).[0m ×2 + 30.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 30.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191918 ms (missed cycles : 5). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191918 ms (missed cycles : 5).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697844 ms (missed cycles : 5). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697844 ms (missed cycles : 5).[0m ×2 + 32.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419799 ms (missed cycles : 3). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419799 ms (missed cycles : 3).[0m ×2 + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865378 ms (missed cycles : 3). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865378 ms (missed cycles : 3).[0m ×2 + 34.65sWARNros2_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 + 34.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.986ms + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466026 ms (missed cycles : 3). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466026 ms (missed cycles : 3).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382498 ms (missed cycles : 3). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382498 ms (missed cycles : 3).[0m ×2 + 37.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589060 ms (missed cycles : 5). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589060 ms (missed cycles : 5).[0m ×2 + 37.50sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.27sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578831 ms (missed cycles : 3). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578831 ms (missed cycles : 3).[0m ×2 + 39.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862855 ms (missed cycles : 3). + 39.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862855 ms (missed cycles : 3).[0m ×2 + 39.75sWARNros2_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 + 40.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 40.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888507 ms (missed cycles : 3). + 40.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888507 ms (missed cycles : 3).[0m ×2 + 41.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.344ms + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860104 ms (missed cycles : 3). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860104 ms (missed cycles : 3).[0m ×2 + 42.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 42.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890957 ms (missed cycles : 3). + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890957 ms (missed cycles : 3).[0m ×2 + 42.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 43.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115236 ms (missed cycles : 3). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115236 ms (missed cycles : 3).[0m ×2 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318285 ms (missed cycles : 5). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318285 ms (missed cycles : 5).[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800204 ms (missed cycles : 2). + 46.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800204 ms (missed cycles : 2).[0m ×2 + 46.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 47.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246748 ms (missed cycles : 3). + 47.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246748 ms (missed cycles : 3).[0m ×2 + 47.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 47.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.333ms + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836685 ms (missed cycles : 3). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836685 ms (missed cycles : 3).[0m ×2 + 48.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 49.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148411 ms (missed cycles : 3). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148411 ms (missed cycles : 3).[0m ×2 + 49.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 50.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931411 ms (missed cycles : 3). + 50.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931411 ms (missed cycles : 3).[0m ×2 + 51.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 51.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256299 ms (missed cycles : 2). + 51.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256299 ms (missed cycles : 2).[0m ×2 + 52.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856217 ms (missed cycles : 3). + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856217 ms (missed cycles : 3).[0m ×2 + 53.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 53.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210514 ms (missed cycles : 2). + 53.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210514 ms (missed cycles : 2).[0m ×2 + 54.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769650 ms (missed cycles : 3). + 54.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769650 ms (missed cycles : 3).[0m ×2 + 54.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 54.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788541710.96567988 seconds ×3 + 54.89sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 54.89sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.29sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.29sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.37sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788541711.54179239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594585 ms (missed cycles : 3). + 55.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594585 ms (missed cycles : 3).[0m ×2 + 55.80sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 55.83sWARNros2_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 + 55.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.302ms + 56.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864484 ms (missed cycles : 3). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864484 ms (missed cycles : 3).[0m ×2 + 57.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987350 ms (missed cycles : 2). + 57.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987350 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	181 warnings · 379 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 0.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.18sINFOobjective_server_nodecaller: ×12 + 1.18sINFOobjective_server_nodetype: 0 ×12 + 1.18sINFOobjective_server_nodename: "" ×12 + 1.18sINFOobjective_server_nodeinstance_id: "" ×12 + 1.18sINFOobjective_server_node ×12 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.21sINFOmove_groupClearing octomap...[0m ×2 + 1.21sINFOmove_groupOctomap cleared.[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.17sWARNros2_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 + 2.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 2.75sWARNros2_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 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 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 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348990 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348990 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454620 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454620 ms (missed cycles : 3).[0m ×2 + 7.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 8.43sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 3.419ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878324 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878324 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736047 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736047 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205064 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205064 ms (missed cycles : 2).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557041 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557041 ms (missed cycles : 3).[0m ×2 + 12.35sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503266 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503266 ms (missed cycles : 4).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107418 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107418 ms (missed cycles : 2).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737946 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737946 ms (missed cycles : 2).[0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615154 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615154 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514597 ms (missed cycles : 4). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514597 ms (missed cycles : 4).[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916436 ms (missed cycles : 2). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916436 ms (missed cycles : 2).[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691787 ms (missed cycles : 2). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691787 ms (missed cycles : 2).[0m ×2 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174307 ms (missed cycles : 3). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174307 ms (missed cycles : 3).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849519 ms (missed cycles : 3). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849519 ms (missed cycles : 3).[0m ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588182 ms (missed cycles : 3). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588182 ms (missed cycles : 3).[0m ×2 + 22.58sWARNros2_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 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252385 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252385 ms (missed cycles : 2).[0m ×2 + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332459 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332459 ms (missed cycles : 2).[0m ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430174 ms (missed cycles : 3). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430174 ms (missed cycles : 3).[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276436 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276436 ms (missed cycles : 2).[0m ×2 + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946592 ms (missed cycles : 3). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946592 ms (missed cycles : 3).[0m ×2 + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329849 ms (missed cycles : 3). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329849 ms (missed cycles : 3).[0m ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710195 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710195 ms (missed cycles : 2).[0m ×2 + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744564 ms (missed cycles : 3). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744564 ms (missed cycles : 3).[0m ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790122 ms (missed cycles : 3). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790122 ms (missed cycles : 3).[0m ×2 + 32.60sWARNros2_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 + 33.18sWARNros2_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 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299634 ms (missed cycles : 3). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299634 ms (missed cycles : 3).[0m ×2 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106379 ms (missed cycles : 2). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106379 ms (missed cycles : 2).[0m ×2 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215165 ms (missed cycles : 2). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215165 ms (missed cycles : 2).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999573 ms (missed cycles : 3). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999573 ms (missed cycles : 3).[0m ×2 + 37.61sWARNros2_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 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120989 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120989 ms (missed cycles : 2).[0m ×2 + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451220 ms (missed cycles : 2). + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451220 ms (missed cycles : 2).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936523 ms (missed cycles : 2). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936523 ms (missed cycles : 2).[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.633774 ms (missed cycles : 4). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.633774 ms (missed cycles : 4).[0m ×2 + 41.60sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.085ms + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424464 ms (missed cycles : 3). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424464 ms (missed cycles : 3).[0m ×2 + 43.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129077 ms (missed cycles : 2). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129077 ms (missed cycles : 2).[0m ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475657 ms (missed cycles : 4). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475657 ms (missed cycles : 4).[0m ×2 + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991860 ms (missed cycles : 2). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991860 ms (missed cycles : 2).[0m ×2 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478322 ms (missed cycles : 3). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478322 ms (missed cycles : 3).[0m ×2 + 46.82sINFOjoint_trajectory_controllerGoal reached, success! + 46.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788541556.41087842 seconds ×3 + 46.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.38sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788541556.99011111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850651 ms (missed cycles : 5). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850651 ms (missed cycles : 5).[0m ×2 + 47.76sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 48.37sWARNros2_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 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118182 ms (missed cycles : 3). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118182 ms (missed cycles : 3).[0m ×2 + 48.59sINFOobjective_server_nodeFound path in 0 iterations (3.9969e-05 s). ×2 + 48.65sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140015 ms (missed cycles : 2). + 49.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140015 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	149 warnings · 183 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907099 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888237 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888237 ms (missed cycles : 3).[0m ×2 + 1.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.42sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788541626.40387416 seconds ×3 + 1.78sWARNros2_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 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679484 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679484 ms (missed cycles : 2).[0m ×2 + 2.35sWARNros2_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 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×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 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788541627.98292994 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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227965 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227965 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (5.52e-07 s). ×2 + 3.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320012 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320012 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167334 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167334 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317887 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317887 ms (missed cycles : 4).[0m ×2 + 6.90sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.49sWARNros2_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 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565135 ms (missed cycles : 4). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565135 ms (missed cycles : 4).[0m ×2 + 8.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.133ms + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961289 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961289 ms (missed cycles : 2).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.244ms + 9.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.073ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884934 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884934 ms (missed cycles : 2).[0m ×2 + 10.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.447ms + 10.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.842ms + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677534 ms (missed cycles : 3). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677534 ms (missed cycles : 3).[0m ×2 + 11.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.997ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056638 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056638 ms (missed cycles : 2).[0m ×2 + 12.24sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.200ms + 12.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 12.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.297ms + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710929 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710929 ms (missed cycles : 2).[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.273ms + 14.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834471 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834471 ms (missed cycles : 2).[0m ×2 + 14.64sINFOamclParticle filter update iteration stats: 4166 particles 723 points - 9.934ms + 15.25sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 7.020ms + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243704 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243704 ms (missed cycles : 2).[0m ×2 + 15.85sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 4.454ms + 16.45sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 3.303ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273199 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273199 ms (missed cycles : 2).[0m ×2 + 17.08sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.653ms + 17.64sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661737 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661737 ms (missed cycles : 2).[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017866 ms (missed cycles : 2). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017866 ms (missed cycles : 2).[0m ×2 + 18.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880086 ms (missed cycles : 3). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880086 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306898 ms (missed cycles : 3). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306898 ms (missed cycles : 3).[0m ×2 + 21.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 21.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802486 ms (missed cycles : 3). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802486 ms (missed cycles : 3).[0m ×2 + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849196 ms (missed cycles : 3). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849196 ms (missed cycles : 3).[0m ×2 + 23.13sWARNros2_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 + 23.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 23.75sWARNros2_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 + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.322ms + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480707 ms (missed cycles : 2). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480707 ms (missed cycles : 2).[0m ×2 + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 24.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824826 ms (missed cycles : 2). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824826 ms (missed cycles : 2).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522417 ms (missed cycles : 4). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522417 ms (missed cycles : 4).[0m ×2 + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.566ms + 26.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185689 ms (missed cycles : 2). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185689 ms (missed cycles : 2).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.538ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772344 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772344 ms (missed cycles : 2).[0m ×2 + 28.67sWARNros2_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 + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 29.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229814 ms (missed cycles : 3). + 29.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229814 ms (missed cycles : 3).[0m ×2 + 29.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170559 ms (missed cycles : 3). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170559 ms (missed cycles : 3).[0m ×2 + 30.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 32.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4).[0m ×2 + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5).[0m ×2 + 34.08sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788541659.06311321 seconds ×3 + 34.18sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.18sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.34sWARNros2_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 + 34.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 34.38sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.38sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.62sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788541659.64553714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3).[0m ×2 + 34.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 35.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3).[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	103 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140908 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140908 ms (missed cycles : 2).[0m ×2 + 0.88sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694733 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694733 ms (missed cycles : 5).[0m ×2 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694186 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694186 ms (missed cycles : 2).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.644ms + 2.30sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.30sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788541852.09831762 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788541852.67772532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220687 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220687 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.308ms + 3.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460452 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460452 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910560 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910560 ms (missed cycles : 3).[0m ×2 + 6.21sWARNros2_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 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548011 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548011 ms (missed cycles : 3).[0m ×2 + 6.81sWARNros2_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 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412635 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412635 ms (missed cycles : 3).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314069 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314069 ms (missed cycles : 3).[0m ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 9.45sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 9.57sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.62sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317076 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317076 ms (missed cycles : 3).[0m ×2 + 9.74sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.10sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 10.55sINFOobjective_server_nodeFound path in 33 iterations (0.0328749 s). ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186244 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186244 ms (missed cycles : 2).[0m ×2 + 11.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 11.44sWARNros2_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 + 11.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.84sINFOobjective_server_nodeFound path in 0 iterations (6.76e-07 s). ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971152 ms (missed cycles : 5). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971152 ms (missed cycles : 5).[0m ×2 + 12.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 12.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.70sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747175 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747175 ms (missed cycles : 4).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041165 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041165 ms (missed cycles : 2).[0m ×2 + 14.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.409ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962326 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962326 ms (missed cycles : 2).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853568 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853568 ms (missed cycles : 2).[0m ×2 + 16.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.110ms + 16.58sWARNros2_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 + 16.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.840ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207421 ms (missed cycles : 4). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207421 ms (missed cycles : 4).[0m ×2 + 17.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 17.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.834ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697604 ms (missed cycles : 5). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697604 ms (missed cycles : 5).[0m ×2 + 18.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.896ms + 18.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788541868.44631076 seconds ×3 + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516611 ms (missed cycles : 2). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516611 ms (missed cycles : 2).[0m ×2 + 19.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788541869.06304765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.32sINFOmove_groupClearing octomap...[0m ×2 + 19.32sINFOmove_groupOctomap cleared.[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.509ms + 19.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788541869.57317495 seconds ×3 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570135 ms (missed cycles : 3). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570135 ms (missed cycles : 3).[0m ×2 + 20.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.37sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788541870.14640045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788541870.71652985 seconds ×3 + 21.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325951 ms (missed cycles : 2). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325951 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.2s	104 errors · 40 warnings · 521 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.840ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207421 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207421 ms (missed cycles : 4).[0m ×2 + 0.59sWARNros2_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 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.834ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697604 ms (missed cycles : 5). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697604 ms (missed cycles : 5).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.896ms + 2.10sINFOjoint_trajectory_controllerGoal reached, success! + 2.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788541868.44631076 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516611 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516611 ms (missed cycles : 2).[0m ×2 + 2.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.67sINFOobjective_server_nodecaller: ×4 + 2.67sINFOobjective_server_nodetype: 0 ×4 + 2.67sINFOobjective_server_nodename: "" ×4 + 2.67sINFOobjective_server_nodeinstance_id: "" ×4 + 2.67sINFOobjective_server_node ×4 + 2.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788541869.06304765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.74sINFOmove_groupClearing octomap...[0m ×2 + 2.74sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.509ms + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788541869.57317495 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570135 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570135 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788541870.14640045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788541870.71652985 seconds ×3 + 4.63sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325951 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325951 ms (missed cycles : 2).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715372 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715372 ms (missed cycles : 2).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533543 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533543 ms (missed cycles : 3).[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956409 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956409 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951605 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951605 ms (missed cycles : 3).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508582 ms (missed cycles : 3). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508582 ms (missed cycles : 3).[0m ×2 + 10.42sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.45sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORweb_video_auth_proxy-38process has died [pid 7782, 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 + 10.45sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.46sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORweb_bridge_auth_proxy-37process has died [pid 7781, 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 + 10.46sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.48sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.49sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.50sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.51sINFOvideo_server-36process has finished cleanly [pid 7778] ×2 + 10.51sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.52sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.53sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.54sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.55sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.56sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.57sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.58sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.59sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.61sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.61sINFOcontroller_managerShutdown request received.... + 10.61sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.61sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.61sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.61sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.61sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.61sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.61sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.61sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.61sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.61sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.61sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.61sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.61sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.61sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.61sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.61sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.61sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.61sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.61sINFOcontroller_managerShutting down the controller manager. + 10.62sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.63sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.64sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.64sERRORmove_group-24process has died [pid 7720, 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_xqz87378 --params-file /tmp/launch_params_0i7f1g2d --params-file /tmp/launch_params_q1n3u7yp --params-file /tmp/launch_params_z5b6f21x --params-file /tmp/launch_params_ztc5skbt --params-file /tmp/launch_params_srdxifi6']. ×2 + 10.65sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.66sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.67sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.68sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.68sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.70sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.71sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.72sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.72sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.72sINFOmap_serverDeactivating + 10.72sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.73sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.73sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.73sINFOcontroller_serverDeactivating + 10.73sINFOlocal_costmap.local_costmapDeactivating + 10.73sINFOvideo_server2026/09/04 17:11:16 INF shutting down gracefully ×2 + 10.73sINFOvideo_server2026/09/04 17:11:16 INF [WebRTC] closing ×2 + 10.73sINFOvideo_server2026/09/04 17:11:16 INF [RTSP] closing ×2 + 10.73sINFOvideo_server2026/09/04 17:11:16 INF waiting for running hooks ×2 + 10.73sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOmap_serverCleaning up + 10.73sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.73sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.73sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.73sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.73sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.73sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.73sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.73sERRORmove_groupStack trace (most recent call last) in thread 8408: ×2 + 10.73sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.73sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b2dba4a63, in __clone ×2 + 10.73sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b2db17aa3, in ×2 + 10.73sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b2dda9db3, in ×2 + 10.73sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f1b2e50ea94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.73sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.73sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.73sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.73sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.73sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.73sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.73sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.73sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.73sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.74sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.74sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.74sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.74sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.74sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.74sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 10.74sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1b2e13b620, in rclcpp::Rate::sleep() ×2 + 10.74sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1b2e07dd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.74sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1b2e03f087, in ×2 + 10.74sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b2dd78390, in __cxa_throw ×2 + 10.74sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b2dd62a54, in std::terminate() ×2 + 10.74sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b2dd780d9, in ×2 + 10.74sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b2dd62ff4, in ×2 + 10.74sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b2daa38fe, in abort ×2 + 10.74sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b2dac027d, in raise ×2 + 10.74sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b2db19b2c, in pthread_kill ×2 + 10.74sERRORmove_groupAborted (Signal sent by tkill() 7720 0) ×2 + 10.74sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.74sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.74sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.74sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.74sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.74sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.74sINFOodom_qos_relay.pymain() ×2 + 10.74sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.74sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.74sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.74sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.74sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.74sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.74sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.74sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.74sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.74sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.75sERRORamclThe bond connection to the lifecycle manager has been broken + 10.75sINFOcontroller_serverCleaning up + 10.75sINFOlocal_costmap.local_costmapCleaning up + 10.80sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.80sINFOsmoother_serverDeactivating + 10.80sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.80sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.80sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.80sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.80sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.80sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.80sINFOvelocity_smootherDeactivating + 10.80sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.81sINFOsmoother_serverCleaning up + 10.83sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.83sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.83sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.83sINFOplanner_serverDeactivating + 10.83sINFOglobal_costmap.global_costmapDeactivating + 10.83sINFOros2_control_nodepublish_async_failures_ 6[0m ×2 + 11.00sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.01sINFOwaypoint_followerDeactivating + 11.01sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.12sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.12sINFObt_navigatorDeactivating + 11.12sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.23sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.23sINFObehavior_serverDeactivating + 11.23sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.35sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.35sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.35sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.35sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.35sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.35sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.35sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.35sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.35sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.35sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.35sINFOvelocity_smootherCleaning up + 11.35sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.35sINFOwaypoint_followerCleaning up + 11.36sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.36sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.37sINFOplanner_serverCleaning up + 11.38sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.38sINFObt_navigatorCleaning up + 11.38sINFOglobal_costmap.global_costmapCleaning up + 11.39sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.39sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.43sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.43sINFObehavior_serverCleaning up + 11.43sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.43sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.43sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.43sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.55sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7777] ×2 + 11.55sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.56sINFObt_navigatorCompleted Cleaning up + 11.56sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.61sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7770] ×2 + 11.62sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.62sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.62sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.62sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.63sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7769] ×2 + 11.64sINFOui_teleop_bridge-33process has finished cleanly [pid 7775] ×2 + 11.64sINFOexecute_objective_bridge-32process has finished cleanly [pid 7774] ×2 + 11.66sINFOcomponent_container_mt-31process has finished cleanly [pid 7773] ×2 + 11.67sINFOparameter_manager_node-25process has finished cleanly [pid 7767] ×2 + 11.67sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7703] ×2 + 11.68sINFOwaypoint_manager_node-26process has finished cleanly [pid 7768] ×2 + 11.69sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7702] ×2 + 11.70sINFOstatic_transform_publisher-9process has finished cleanly [pid 7620] ×2 + 11.70sINFOstatic_transform_publisher-8process has finished cleanly [pid 7619] ×2 + 11.71sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.71sINFOlidar_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 + 11.71sINFOlidar_flattener.pymain() ×2 + 11.71sINFOlidar_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 + 11.71sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.71sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.71sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.71sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.71sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.71sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.71sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.71sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.71sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.75sINFOstatic_transform_publisher-4process has finished cleanly [pid 7615] ×2 + 11.75sINFOstatic_transform_publisher-3process has finished cleanly [pid 7614] ×2 + 11.76sINFOobjective_server_node[2026-09-04 17:11:18.079] [moveit_pro_license] [critical] ×2 + 11.76sINFOobjective_server_node************************************************* ×4 + 11.76sINFOobjective_server_node* MoveIt Pro License ×2 + 11.76sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.76sERRORlidar_flattener.py-7process has died [pid 7618, 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_bkpsogl9']. ×2 + 11.80sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7617] ×2 + 11.80sERRORodom_qos_relay.py-5process has died [pid 7616, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.83sINFOobjective_server_node_main-29process has finished cleanly [pid 7771] ×2 + 11.83sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.88sERRORcomponent_container_isolated-1process has died [pid 7612, 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_1t24fber --params-file /tmp/launch_params__hvz4_yx -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.75sINFOcomponent_container_mt-30process has finished cleanly [pid 7772] ×2 + 13.14sERRORcomponent_container_isolated-2process has died [pid 7613, 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_1t24fber --params-file /tmp/launch_params_2ycey8sd -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.34sINFOweb_bridge-34process has finished cleanly [pid 7776] ×2 + 13.34sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 13.35sINFOros2_control_node-12process has finished cleanly [pid 7704] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 100 warnings · 155 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856217 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856217 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210514 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210514 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769650 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769650 ms (missed cycles : 3).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 2.39sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788541710.96567988 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788541711.54179239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594585 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594585 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 3.44sWARNros2_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 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.302ms + 4.01sWARNros2_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 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864484 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864484 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987350 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987350 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576570 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576570 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084949 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084949 ms (missed cycles : 2).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.115ms + 8.53sWARNros2_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 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697289 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697289 ms (missed cycles : 3).[0m ×2 + 9.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.842ms + 9.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.499ms + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066779 ms (missed cycles : 5). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066779 ms (missed cycles : 5).[0m ×2 + 10.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.137ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.676ms + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209070 ms (missed cycles : 2). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209070 ms (missed cycles : 2).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.207ms + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.333ms + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235952 ms (missed cycles : 5). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235952 ms (missed cycles : 5).[0m ×2 + 12.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.223ms + 13.18sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 8.110ms + 13.26sINFOobjective_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 + 13.27sINFOjoint_trajectory_controllerGot request to cancel goal + 13.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.27sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.30sERRORobjective_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: 1788541721.86759853 seconds ×3 + 13.40sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.40sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707645 ms (missed cycles : 3). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707645 ms (missed cycles : 3).[0m ×2 + 13.74sWARNros2_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 + 13.78sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 6.885ms + 13.80sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.80sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788541722.45139194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 14.33sWARNros2_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 + 14.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.522ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748754 ms (missed cycles : 5). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748754 ms (missed cycles : 5).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489894 ms (missed cycles : 3). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489894 ms (missed cycles : 3).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714857 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714857 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	69 warnings · 142 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.14sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788541620.03137517 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788541620.61373329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.261ms + 4.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_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 + 5.39sWARNros2_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 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632516 ms (missed cycles : 4). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632516 ms (missed cycles : 4).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907099 ms (missed cycles : 3). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907099 ms (missed cycles : 3).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888237 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888237 ms (missed cycles : 3).[0m ×2 + 9.52sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788541626.40387416 seconds ×3 + 9.87sWARNros2_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 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679484 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679484 ms (missed cycles : 2).[0m ×2 + 10.45sWARNros2_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 + 11.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.06sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.10sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788541627.98292994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227965 ms (missed cycles : 5). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227965 ms (missed cycles : 5).[0m ×2 + 11.50sINFOobjective_server_nodeFound path in 0 iterations (5.52e-07 s). ×2 + 12.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320012 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320012 ms (missed cycles : 3).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167334 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167334 ms (missed cycles : 2).[0m ×2 + 13.70sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	63 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633328 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633328 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.345ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134017 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134017 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_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 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 1.84sWARNros2_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 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737208 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737208 ms (missed cycles : 4).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 2.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.92sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788541788.26155210 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952162 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952162 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788541788.83288527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.475ms + 4.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388162 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388162 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894717 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894717 ms (missed cycles : 3).[0m ×2 + 6.40sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2 + 7.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3).[0m ×2 + 9.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788541794.65302515 seconds ×3 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2).[0m ×2 + 9.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.90sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788541795.22809601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.36sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3).[0m ×2 + 12.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	44 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475657 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475657 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991860 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991860 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478322 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478322 ms (missed cycles : 3).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.69sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788541556.41087842 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788541556.99011111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850651 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850651 ms (missed cycles : 5).[0m ×2 + 3.63sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 4.23sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118182 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118182 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.9969e-05 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140015 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140015 ms (missed cycles : 2).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541899 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541899 ms (missed cycles : 2).[0m ×2 + 7.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 7.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741683 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741683 ms (missed cycles : 3).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606413 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606413 ms (missed cycles : 3).[0m ×2 + 8.75sWARNros2_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 + 8.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788541562.62025571 seconds ×3 + 9.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 9.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.45sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788541563.20113468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006425 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006425 ms (missed cycles : 2).[0m ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 9.93sINFOamclParticle filter update iteration stats: 2544 particles 723 points - 2.980ms + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397470 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397470 ms (missed cycles : 3).[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653517 ms (missed cycles : 3). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653517 ms (missed cycles : 3).[0m ×2 + 12.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	32 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853568 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853568 ms (missed cycles : 2).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.110ms + 0.61sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.840ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207421 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207421 ms (missed cycles : 4).[0m ×2 + 1.20sWARNros2_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 + 1.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.834ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697604 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697604 ms (missed cycles : 5).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.896ms + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788541868.44631076 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516611 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516611 ms (missed cycles : 2).[0m ×2 + 3.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788541869.06304765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.35sINFOmove_groupClearing octomap...[0m ×2 + 3.35sINFOmove_groupOctomap cleared.[0m ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.509ms + 3.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788541869.57317495 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570135 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570135 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788541870.14640045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788541870.71652985 seconds ×3 + 5.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325951 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325951 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715372 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715372 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533543 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533543 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 0.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.21sINFOmove_groupClearing octomap...[0m ×2 + 1.21sINFOmove_groupOctomap cleared.[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.17sWARNros2_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 ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 2.75sWARNros2_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 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 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 ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348990 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348990 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	22 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475657 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475657 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991860 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991860 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478322 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478322 ms (missed cycles : 3).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788541556.41087842 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788541556.99011111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850651 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850651 ms (missed cycles : 5).[0m ×2 + 3.63sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 4.23sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118182 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118182 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.9969e-05 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140015 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140015 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	22 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475657 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475657 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991860 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991860 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478322 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478322 ms (missed cycles : 3).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788541556.41087842 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788541556.99011111 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850651 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850651 ms (missed cycles : 5).[0m ×2 + 3.63sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 4.23sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118182 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118182 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.9969e-05 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140015 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140015 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	22 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.02sINFOobjective_server_nodecaller: ×10 + 3.02sINFOobjective_server_nodetype: 0 ×10 + 3.02sINFOobjective_server_nodename: "" ×10 + 3.02sINFOobjective_server_nodeinstance_id: "" ×10 + 3.02sINFOobjective_server_node ×10 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_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 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 4.60sWARNros2_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 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	22 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541899 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541899 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741683 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741683 ms (missed cycles : 3).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606413 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606413 ms (missed cycles : 3).[0m ×2 + 2.26sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788541562.62025571 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×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 + 2.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788541563.20113468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006425 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006425 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.44sINFOamclParticle filter update iteration stats: 2544 particles 723 points - 2.980ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397470 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397470 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653517 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653517 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788541620.03137517 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788541620.61373329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.261ms + 4.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_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 + 5.39sWARNros2_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 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788541620.03137517 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788541620.61373329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.261ms + 4.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_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 + 5.39sWARNros2_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 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788541620.03137517 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788541620.61373329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.261ms + 4.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_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 + 5.39sWARNros2_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 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788541620.03137517 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788541620.61373329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.261ms + 4.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_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 + 5.39sWARNros2_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 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039085 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710141 ms (missed cycles : 3).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456625 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788541620.03137517 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788541620.61373329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.261ms + 4.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706743 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_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 + 5.39sWARNros2_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 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877943 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	38 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5).[0m ×2 + 2.49sWARNros2_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 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788541659.06311321 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788541659.64553714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3).[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	38 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5).[0m ×2 + 2.49sWARNros2_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 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788541659.06311321 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788541659.64553714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3).[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	38 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224383 ms (missed cycles : 4).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665540 ms (missed cycles : 5).[0m ×2 + 2.49sWARNros2_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 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788541659.06311321 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788541659.64553714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356591 ms (missed cycles : 3).[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772978 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713829 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	22 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.02sINFOobjective_server_nodecaller: ×10 + 3.02sINFOobjective_server_nodetype: 0 ×10 + 3.02sINFOobjective_server_nodename: "" ×10 + 3.02sINFOobjective_server_nodeinstance_id: "" ×10 + 3.02sINFOobjective_server_node ×10 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_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 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 4.60sWARNros2_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 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	29 warnings · 69 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788541794.65302515 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788541795.22809601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	22 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.02sINFOobjective_server_nodecaller: ×10 + 3.02sINFOobjective_server_nodetype: 0 ×10 + 3.02sINFOobjective_server_nodename: "" ×10 + 3.02sINFOobjective_server_nodeinstance_id: "" ×10 + 3.02sINFOobjective_server_node ×10 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_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 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 4.60sWARNros2_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 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	29 warnings · 69 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788541794.65302515 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788541795.22809601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	29 warnings · 69 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788541794.65302515 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788541795.22809601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	29 warnings · 69 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788541794.65302515 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788541795.22809601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	29 warnings · 69 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788541794.65302515 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788541795.22809601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	29 warnings · 69 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788541794.65302515 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788541795.22809601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	29 warnings · 69 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696142 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715143 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581085 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788541794.65302515 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201535 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788541795.22809601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846435 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192880 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523251 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	26 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853568 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853568 ms (missed cycles : 2).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.110ms + 0.61sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.840ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207421 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207421 ms (missed cycles : 4).[0m ×2 + 1.20sWARNros2_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 + 1.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.834ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697604 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697604 ms (missed cycles : 5).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.896ms + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788541868.44631076 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516611 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516611 ms (missed cycles : 2).[0m ×2 + 3.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788541869.06304765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.35sINFOmove_groupClearing octomap...[0m ×2 + 3.35sINFOmove_groupOctomap cleared.[0m ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.509ms + 3.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788541869.57317495 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570135 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570135 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788541870.14640045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788541870.71652985 seconds ×3 + 5.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325951 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325951 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 320 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.22sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.65sINFOobjective_server_nodecaller: ×10 + 2.65sINFOobjective_server_nodetype: 0 ×10 + 2.65sINFOobjective_server_nodename: "" ×10 + 2.65sINFOobjective_server_nodeinstance_id: "" ×10 + 2.65sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 3.64sWARNros2_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 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 4.22sWARNros2_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 + 4.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 329 info
+ 0.00sWARNros2_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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667082 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667082 ms (missed cycles : 3).[0m ×2 + 0.49sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.49sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.59sINFObehavior_serverActivating + 0.59sINFObehavior_serverActivating spin + 0.59sINFObehavior_serverActivating backup + 0.59sINFObehavior_serverActivating drive_on_heading + 0.59sINFObehavior_serverActivating assisted_teleop + 0.59sINFObehavior_serverActivating wait + 0.59sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.70sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.70sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.70sINFObt_navigatorActivating + 0.76sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.87sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.87sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.87sINFOwaypoint_followerActivating + 0.87sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.97sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.97sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.97sINFOvelocity_smootherActivating + 0.97sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.08sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.08sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.08sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 1.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.51sINFOobjective_server_nodecaller: ×10 + 3.51sINFOobjective_server_nodetype: 0 ×10 + 3.51sINFOobjective_server_nodename: "" ×10 + 3.51sINFOobjective_server_nodeinstance_id: "" ×10 + 3.51sINFOobjective_server_node ×10 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 4.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 5.09sWARNros2_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 + 5.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 7.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 335 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.02sINFOobjective_server_nodecaller: ×10 + 3.02sINFOobjective_server_nodetype: 0 ×10 + 3.02sINFOobjective_server_nodename: "" ×10 + 3.02sINFOobjective_server_nodeinstance_id: "" ×10 + 3.02sINFOobjective_server_node ×10 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_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 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 4.60sWARNros2_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 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.02sINFOjoint_trajectory_controllerReceived new action goal + 7.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.02sINFOjoint_trajectory_controllerAccepted new action goal + 7.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	24 warnings · 326 info
+ 0.00sWARNros2_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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667082 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667082 ms (missed cycles : 3).[0m ×2 + 0.49sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.49sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.59sINFObehavior_serverActivating + 0.59sINFObehavior_serverActivating spin + 0.59sINFObehavior_serverActivating backup + 0.59sINFObehavior_serverActivating drive_on_heading + 0.59sINFObehavior_serverActivating assisted_teleop + 0.59sINFObehavior_serverActivating wait + 0.59sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.70sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.70sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.70sINFObt_navigatorActivating + 0.76sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.87sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.87sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.87sINFOwaypoint_followerActivating + 0.87sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.97sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.97sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.97sINFOvelocity_smootherActivating + 0.97sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.08sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.08sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.08sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 1.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.51sINFOobjective_server_nodecaller: ×10 + 3.51sINFOobjective_server_nodetype: 0 ×10 + 3.51sINFOobjective_server_nodename: "" ×10 + 3.51sINFOobjective_server_nodeinstance_id: "" ×10 + 3.51sINFOobjective_server_node ×10 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 4.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 5.09sWARNros2_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 + 5.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	22 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.02sINFOobjective_server_nodecaller: ×10 + 3.02sINFOobjective_server_nodetype: 0 ×10 + 3.02sINFOobjective_server_nodename: "" ×10 + 3.02sINFOobjective_server_nodeinstance_id: "" ×10 + 3.02sINFOobjective_server_node ×10 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_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 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 4.60sWARNros2_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 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	22 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.02sINFOobjective_server_nodecaller: ×10 + 3.02sINFOobjective_server_nodetype: 0 ×10 + 3.02sINFOobjective_server_nodename: "" ×10 + 3.02sINFOobjective_server_nodeinstance_id: "" ×10 + 3.02sINFOobjective_server_node ×10 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_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 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 4.60sWARNros2_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 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	22 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.02sINFOobjective_server_nodecaller: ×10 + 3.02sINFOobjective_server_nodetype: 0 ×10 + 3.02sINFOobjective_server_nodename: "" ×10 + 3.02sINFOobjective_server_nodeinstance_id: "" ×10 + 3.02sINFOobjective_server_node ×10 + 3.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_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 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 4.60sWARNros2_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 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	25 warnings · 320 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.22sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924345 ms (missed cycles : 2).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.65sINFOobjective_server_nodecaller: ×10 + 2.65sINFOobjective_server_nodetype: 0 ×10 + 2.65sINFOobjective_server_nodename: "" ×10 + 2.65sINFOobjective_server_nodeinstance_id: "" ×10 + 2.65sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 3.64sWARNros2_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 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 4.22sWARNros2_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 + 4.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348990 ms (missed cycles : 4). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348990 ms (missed cycles : 4).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723572 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510592 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788541510.78714299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788541510.79749632 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788541511.37171578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788541511.38184857 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008026 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788541511.96202993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788541512.11263299 seconds ×3 + 3.45sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953484 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788541512.71190691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788541512.77203894 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788541513.34579468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318488 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2