73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.8s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.9s | 12 errors · 318 warnings · 1524 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/2026-09-04-18-31-25-031194-3df947c99ab5-7584 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.28sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 4.28sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.29sINFOstatic_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' + 4.30sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.31sINFOstatic_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' + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.33sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.42sINFOmap_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. + 4.42sINFOmap_serverCreating + 4.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.48sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.50sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.56sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.57sINFOros2_control_node-12process started with pid [7729] ×2 + 4.57sINFOmove_group-24process started with pid [7741] ×2 + 4.57sINFOparameter_manager_node-25process started with pid [7793] ×2 + 4.57sINFOwaypoint_manager_node-26process started with pid [7794] ×2 + 4.58sINFOmove_joint_resampler_node-27process started with pid [7795] ×2 + 4.58sINFOmove_end_effector_resampler_node-28process started with pid [7796] ×2 + 4.58sINFOobjective_server_node_main-29process started with pid [7797] ×2 + 4.58sINFOcomponent_container_mt-30process started with pid [7798] ×2 + 4.58sINFOcomponent_container_mt-31process started with pid [7799] ×2 + 4.58sINFOexecute_objective_bridge-32process started with pid [7800] ×2 + 4.58sINFOui_teleop_bridge-33process started with pid [7801] ×2 + 4.58sINFOweb_bridge-34process started with pid [7802] ×2 + 4.58sINFOtf2_web_republisher_node-35process started with pid [7803] ×2 + 4.58sINFOvideo_server-36process started with pid [7805] ×2 + 4.58sINFOweb_bridge_auth_proxy-37process started with pid [7807] ×2 + 4.58sINFOweb_video_auth_proxy-38process started with pid [7811] ×2 + 4.58sINFOcomponent_container_isolated-1process started with pid [7634] ×2 + 4.58sINFOcomponent_container_isolated-2process started with pid [7635] ×2 + 4.58sINFOstatic_transform_publisher-3process started with pid [7636] ×2 + 4.58sINFOstatic_transform_publisher-4process started with pid [7637] ×2 + 4.58sINFOodom_qos_relay.py-5process started with pid [7638] ×2 + 4.58sINFOforward_stereo_publisher.py-6process started with pid [7639] ×2 + 4.58sINFOlidar_flattener.py-7process started with pid [7640] ×2 + 4.58sINFOstatic_transform_publisher-8process started with pid [7641] ×2 + 4.58sINFOstatic_transform_publisher-9process started with pid [7642] ×2 + 4.58sINFOscan_to_scan_filter_chain-10process started with pid [7727] ×2 + 4.58sINFOscan_to_scan_filter_chain-11process started with pid [7728] ×2 + 4.58sINFOros2-13process started with pid [7730] ×2 + 4.58sINFOros2-14process started with pid [7731] ×2 + 4.58sINFOros2-15process started with pid [7732] ×2 + 4.58sINFOros2-16process started with pid [7733] ×2 + 4.58sINFOros2-17process started with pid [7734] ×2 + 4.58sINFOros2-18process started with pid [7735] ×2 + 4.58sINFOros2-19process started with pid [7736] ×2 + 4.58sINFOros2-20process started with pid [7737] ×2 + 4.58sINFOros2-21process started with pid [7738] ×2 + 4.58sINFOros2-22process started with pid [7739] ×2 + 4.58sINFOros2-23process started with pid [7740] ×2 + 4.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.59sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.62sINFOlifecycle_manager_localizationCreating + 4.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.63sINFOcontroller_managerupdate rate is 600 Hz + 4.63sINFOcontroller_managerOverruns handling is : enabled + 4.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.63sWARNcontroller_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. + 4.63sINFOcontroller_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. + 4.65sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.65sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.65sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.65sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.65sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.65sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.65sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.65sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.65sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.65sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.65sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.65sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.65sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.65sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.65sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.65sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.66sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.66sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.66sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.66sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.66sWARNros2_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 + 4.66sINFOmap_serverConfiguring + 4.68sINFOcontroller_serverCreating controller server + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.72sINFOlocal_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. + 4.72sINFOlocal_costmap.local_costmapCreating Costmap + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.74sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.74sINFOamclConfiguring + 4.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.75sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.75sINFOmap_serverActivating + 4.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.75sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.75sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.75sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.79sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.80sINFOsmoother_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. + 4.82sINFOsmoother_serverCreating smoother server + 4.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.86sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.86sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.87sINFOamclActivating + 4.87sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.87sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.87sINFOamclSubscribed to map_topic: /map + 4.88sINFOamclSubscribed to scan_topic: /scan_merged + 4.88sINFOamclCreated reinitialize_global_localization service + 4.88sINFOamclCreated request_nomotion_update service + 4.88sINFOamclA new map was received + 4.88sINFOamclInitializing particle filter instance + 4.89sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.91sINFOrobot_state_publisherRobot initialized + 4.91sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.91sINFOcontroller_managerReceived robot description from topic. + 4.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.92sINFOplanner_serverCreating + 4.94sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.96sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.97sINFOglobal_costmap.global_costmapCreating Costmap + 4.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.01sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.04sINFOvideo_server2026/09/04 18:31:31 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.04sINFOvideo_server2026/09/04 18:31:31 INF configuration loaded from /tmp/moveit-webrtc-cntak6n2/mediamtx.yml ×2 + 5.04sINFOvideo_server2026/09/04 18:31:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.04sINFOvideo_server2026/09/04 18:31:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.05sINFObehavior_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. + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.09sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762055 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762055 ms (missed cycles : 3).[0m ×2 + 5.16sINFObt_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. + 5.18sINFObt_navigatorCreating + 5.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.23sINFOwaypoint_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. + 5.23sINFOwaypoint_followerCreating + 5.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.28sINFOvelocity_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. + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.31sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.31sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.31sINFOlifecycle_manager_navigationCreating + 5.32sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.32sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.34sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.35sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.370786 seconds + 5.35sINFOmove_groupLoaded robot model in 0.370786 seconds[0m ×2 + 5.35sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.35sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.35sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.35sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.37sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.37sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.37sINFOcontroller_serverConfiguring controller interface + 5.37sINFOcontroller_servergetting progress checker plugins.. + 5.37sINFOcontroller_servergetting goal checker plugins.. + 5.37sINFOcontroller_serverController frequency set to 20.0000Hz + 5.37sINFOlocal_costmap.local_costmapConfiguring + 5.39sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.42sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.46sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.46sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.46sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.47sWARNlaser_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. + 5.47sWARNlaser_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. + 5.47sWARNscan_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 + 5.49sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.50sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.51sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.51sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.52sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.54sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.54sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.54sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.55sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.55sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.55sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.55sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.55sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.55sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.61sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.61sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.64sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.66sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.66sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.66sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.66sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.67sINFOcontroller_serverOptimizer reset ×2 + 5.69sINFOcontroller_serverController Server has FollowPath controllers available. + 5.72sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.72sINFOsmoother_serverConfiguring smoother server + 5.72sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.73sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.73sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.73sINFOplanner_serverConfiguring + 5.73sINFOglobal_costmap.global_costmapConfiguring + 5.75sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.76sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.76sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.77sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.77sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.77sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.78sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.86sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.86sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.86sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.91sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.92sINFOamclParticle filter initialization completed + 5.92sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.92sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.92sINFOplanner_serverPlanner Server has GridBased planners available. + 5.94sINFOamclInitializing particles from estimated pose and covariance + 5.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.94sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.94sINFObehavior_serverConfiguring + 5.95sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.95sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.96sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.96sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.97sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.98sINFObehavior_serverConfiguring spin + 5.98sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.98sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.98sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.99sINFObehavior_serverConfiguring backup + 6.00sINFObehavior_serverConfiguring drive_on_heading + 6.00sINFObehavior_serverConfiguring assisted_teleop + 6.02sINFObehavior_serverConfiguring wait + 6.04sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.04sINFObt_navigatorConfiguring + 6.05sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.05sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.07sWARNbt_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 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046436 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046436 ms (missed cycles : 2).[0m ×2 + 6.32sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.32sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.33sWARNmove_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. + 6.33sWARNmove_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 + 6.34sWARNmove_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. + 6.34sWARNmove_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 + 6.35sWARNmove_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. + 6.35sWARNmove_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 + 6.35sWARNmove_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. + 6.35sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.35sWARNmove_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 + 6.35sWARNmove_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. + 6.35sWARNmove_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. + 6.35sWARNmove_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 + 6.35sWARNmove_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. + 6.35sWARNmove_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 + 6.35sWARNmove_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. + 6.35sWARNmove_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 + 6.35sWARNmove_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 + 6.42sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.42sINFOwaypoint_followerConfiguring + 6.43sINFOwaypoint_manager_nodeLoaded robot model in 0.373748 seconds[0m ×2 + 6.43sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.43sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.46sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.46sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.46sINFOvelocity_smootherConfiguring velocity smoother + 6.48sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.48sINFOcontroller_serverActivating + 6.48sINFOlocal_costmap.local_costmapActivating + 6.48sINFOlocal_costmap.local_costmapChecking transform + 6.48sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×9 + 6.66sINFOmove_group[2026-09-04 18:31:33.391] [moveit_pro_license] [info] ×2 + 6.66sINFOmove_group************************************************* ×4 + 6.66sINFOmove_group* MoveIt Pro License ×2 + 6.66sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.82sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.82sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.82sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.85sINFOros2_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 + 6.86sINFOros2_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 + 7.03sINFOwaypoint_manager_node[2026-09-04 18:31:33.755] [moveit_pro_license] [info] ×2 + 7.03sINFOwaypoint_manager_node************************************************* ×4 + 7.03sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.03sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.10sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.10sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.10sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.10sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.10sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.11sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.11sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.11sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.11sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.11sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.11sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.11sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.12sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.12sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.12sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.12sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.12sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.45sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.46sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.73sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.73sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.73sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.74sWARNros2_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 + 7.74sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.74sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.74sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.74sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.74sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.74sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.74sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.74sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.74sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.74sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.74sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.74sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.74sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.74sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.74sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.74sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.74sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.74sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.74sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.74sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.74sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.74sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 7.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073416 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073416 ms (missed cycles : 3).[0m ×2 + 7.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.80sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.81sINFOforce_torque_sensor_broadcasterconfigure successful + 7.81sINFOros2_control_nodeconfigure successful[0m ×6 + 7.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.82sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.83sINFOobjective_server_node[2026-09-04 18:31:34.556] [moveit_pro_license] [info] ×2 + 7.83sINFOobjective_server_node************************************************* ×4 + 7.83sINFOobjective_server_node* MoveIt Pro License ×2 + 7.83sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.90sINFOobjective_server_nodeLoaded robot model in 0.0290773 seconds[0m ×2 + 7.90sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.90sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.02sINFOros2_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 + 8.02sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.02sWARNros2_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 + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.09sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.09sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.12sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.12sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.12sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.12sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.12sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.12sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.12sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.12sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.12sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.12sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.13sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.13sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.13sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.13sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.13sINFOstreaming_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) + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.13sINFOcomponent_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 + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.14sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.17sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.17sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.17sINFOros2-13process has finished cleanly [pid 7730] ×2 + 8.24sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 8.24sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 8.29sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.29sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.29sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.31sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.31sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.31sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.31sWARNobjective_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. + 8.31sWARNobjective_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 + 8.31sWARNobjective_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. + 8.31sWARNobjective_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 + 8.31sWARNobjective_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. + 8.31sWARNobjective_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. + 8.31sWARNobjective_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 + 8.31sWARNobjective_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 + 8.31sWARNobjective_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. + 8.31sWARNobjective_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. + 8.31sWARNobjective_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 + 8.31sWARNobjective_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 + 8.31sWARNobjective_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. + 8.32sWARNobjective_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. + 8.32sWARNobjective_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 + 8.32sWARNobjective_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. + 8.32sWARNobjective_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. + 8.32sWARNobjective_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 + 8.32sWARNobjective_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 + 8.32sWARNobjective_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 + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.34sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.34sWARNcomponent_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 + 8.37sINFOstreaming_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) + 8.37sINFOcomponent_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 + 8.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.40sINFOobjective_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 + 8.40sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.42sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.42sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.42sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.42sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.42sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.42sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.42sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.70sINFOcomponent_container_mtLoaded robot model in 0.358192 seconds[0m ×2 + 8.70sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.70sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.75sINFOros2_control_node[2026-09-04 18:31:35.473] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.75sINFOros2_control_node[2026-09-04 18:31:35.475] [info] Controller state will be published at 10 Hz. ×2 + 8.75sINFOros2_control_node[2026-09-04 18:31:35.477] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.86sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.88sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 8.91sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.91sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803485 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803485 ms (missed cycles : 2).[0m ×2 + 9.04sWARNplanning_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. + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.07sWARNplanning_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. + 9.07sWARNcomponent_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 + 9.07sWARNcomponent_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 + 9.07sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.07sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.07sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.07sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.10sINFOros2-21process has finished cleanly [pid 7738] ×2 + 9.14sINFOmove_groupMoveGroup debug mode is ON + 9.14sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.14sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.15sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 9.15sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 9.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.19sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.19sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.19sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.20sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.20sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.20sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.23sINFOcomponent_container_mt[2026-09-04 18:31:35.955] [moveit_pro_license] [info] ×2 + 9.23sINFOcomponent_container_mt************************************************* ×4 + 9.23sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.23sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.31sINFOmove_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
********************************************************
+ 9.31sINFOmove_group ×8 + 9.31sINFOmove_group******************************************************** ×4 + 9.31sINFOmove_group* MoveGroup using: ×2 + 9.31sINFOmove_group* - apply_planning_scene_service ×2 + 9.31sINFOmove_group* - clear_octomap_service ×2 + 9.31sINFOmove_group* - get_group_urdf ×2 + 9.31sINFOmove_group* - load_geometry_from_file ×2 + 9.31sINFOmove_group* - get_planning_scene_service ×2 + 9.31sINFOmove_group* - kinematics_service ×2 + 9.32sINFOmove_group* - save_geometry_to_file ×2 + 9.32sINFOmove_group* - GetPlanningGroups ×2 + 9.32sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.32sINFOmove_group[0m ×2 + 9.32sINFOmove_group[92mYou can start planning now![0m ×2 + 9.58sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.58sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.58sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.61sINFOros2_control_node[2026-09-04 18:31:36.335] [info] Controller state will be published at 20 Hz. ×2 + 9.61sINFOros2_control_node[2026-09-04 18:31:36.337] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.94sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.94sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.94sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.94sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 9.94sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 9.95sWARNros2_control_nodeCamera render tick took 1.03 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.96sINFOros2-23process has finished cleanly [pid 7740] ×2 + 9.98sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.98sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.98sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.98sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.99sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.99sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460992 ms (missed cycles : 3). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460992 ms (missed cycles : 3).[0m ×2 + 10.30sINFOros2_control_node[2026-09-04 18:31:37.026] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.30sINFOros2_control_node[2026-09-04 18:31:37.027] [info] Controller state will be published at 10 Hz. ×2 + 10.30sINFOros2_control_node[2026-09-04 18:31:37.028] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 10.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 10.64sINFOros2-20process has finished cleanly [pid 7737] ×2 + 10.65sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.66sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.66sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.66sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.66sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.66sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.67sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.67sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×2 + 10.67sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.67sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.76sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.98sINFOlocal_costmap.local_costmapstart + 11.00sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788546695.645 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.02sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.02sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.02sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.02sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 11.02sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 11.07sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.07sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929459 ms (missed cycles : 3). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929459 ms (missed cycles : 3).[0m ×2 + 11.07sINFOros2-15process has finished cleanly [pid 7732] ×2 + 11.07sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.07sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.08sWARNcontroller_serverParameter controller_server.verbose not found + 11.08sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.08sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.08sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.19sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.19sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.19sINFOsmoother_serverActivating + 11.19sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.29sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.29sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.29sINFOplanner_serverActivating + 11.29sINFOglobal_costmap.global_costmapActivating + 11.29sINFOglobal_costmap.global_costmapChecking transform + 11.29sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 11.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.40sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 11.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 11.41sINFOros2-14process has finished cleanly [pid 7731] ×2 + 11.50sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.50sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.50sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.50sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.50sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.51sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.56sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788546697.397 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.80sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.80sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.80sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.80sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 11.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 11.82sINFOros2-19process has finished cleanly [pid 7736] ×2 + 11.86sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.86sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.86sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.86sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.87sINFOplatform_velocity_controllerconfigure successful + 11.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.88sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.88sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 6.471ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043585 ms (missed cycles : 4). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043585 ms (missed cycles : 4).[0m ×2 + 12.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.21sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.22sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 12.22sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.22sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 12.22sINFOros2-16process has finished cleanly [pid 7733] ×2 + 12.27sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.27sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.28sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.28sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.28sINFOplatform_velocity_controller_nav2configure successful + 12.29sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788546698.974393, but only time 1788546699.006438 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 12.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 12.64sINFOros2-18process has finished cleanly [pid 7735] ×2 + 12.68sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.68sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.68sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.68sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.79sINFOglobal_costmap.global_costmapstart + 13.09sINFOros2_control_node[2026-09-04 18:31:39.817] [info] Controller state will be published at 20 Hz. ×2 + 13.09sINFOros2_control_node[2026-09-04 18:31:39.818] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258877 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258877 ms (missed cycles : 2).[0m ×2 + 13.42sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 13.42sINFOcontroller_managerLoading controller 'vacuum_gripper' + 13.42sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 13.42sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 13.42sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n + 13.42sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4yxsigv1 --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_l0jqou7o --params-file /tmp/launch_params_8uyhd99n [0m ×2 + 13.45sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.45sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 13.45sINFOros2-22process has finished cleanly [pid 7739] ×2 + 13.47sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 13.47sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 13.47sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 13.47sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 13.47sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 13.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 13.48sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 13.48sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 13.49sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 13.49sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 13.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.80sINFOros2-17process has finished cleanly [pid 7734] ×2 + 13.84sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.85sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.95sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.95sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.95sINFObehavior_serverActivating + 13.95sINFObehavior_serverActivating spin + 13.95sINFObehavior_serverActivating backup + 13.95sINFObehavior_serverActivating drive_on_heading + 13.95sINFObehavior_serverActivating assisted_teleop + 13.95sINFObehavior_serverActivating wait + 13.95sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.06sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.06sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.06sINFObt_navigatorActivating + 14.12sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431937 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431937 ms (missed cycles : 2).[0m ×2 + 14.22sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.22sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.22sINFOwaypoint_followerActivating + 14.22sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.32sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.32sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.32sINFOvelocity_smootherActivating + 14.32sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.44sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.44sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.44sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548726 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548726 ms (missed cycles : 3).[0m ×2 + 15.40sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 17.77sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 18.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.78sINFOobjective_server_nodecaller: ×10 + 18.78sINFOobjective_server_nodetype: 0 ×10 + 18.78sINFOobjective_server_nodename: "" ×10 + 18.78sINFOobjective_server_nodeinstance_id: "" ×10 + 18.78sINFOobjective_server_node ×10 + 18.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.81sINFOmove_groupClearing octomap...[0m ×2 + 18.81sINFOmove_groupOctomap cleared.[0m ×2 + 18.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 19.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 19.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 20.43sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.75sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 20.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 21.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 21.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 67.9s | 3 errors · 301 warnings · 253 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.986ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.450ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824472 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824472 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.158ms + 1.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365726 ms (missed cycles : 3). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365726 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.762ms + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.748ms + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458864 ms (missed cycles : 4). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458864 ms (missed cycles : 4).[0m ×2 + 3.00sINFOobjective_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 + 3.00sINFOjoint_trajectory_controllerGot request to cancel goal + 3.00sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.00sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.00sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.05sERRORobjective_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: 1788546916.69626427 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.47sWARNros2_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 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.601ms + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788546917.27739835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976503 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976503 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.937ms + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506407 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506407 ms (missed cycles : 2).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118032 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118032 ms (missed cycles : 3).[0m ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.39sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.39sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.39sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190345 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190345 ms (missed cycles : 3).[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866619 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866619 ms (missed cycles : 2).[0m ×2 + 8.68sWARNros2_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 + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.787ms + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214908 ms (missed cycles : 2). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214908 ms (missed cycles : 2).[0m ×2 + 9.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.250ms + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612264 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612264 ms (missed cycles : 3).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.197ms + 11.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.969ms + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448536 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448536 ms (missed cycles : 2).[0m ×2 + 11.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.343ms + 12.25sINFOamclParticle filter update iteration stats: 3980 particles 723 points - 7.562ms + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197084 ms (missed cycles : 2). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197084 ms (missed cycles : 2).[0m ×2 + 12.84sINFOamclParticle filter update iteration stats: 2774 particles 723 points - 5.748ms + 13.42sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 3.761ms + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902746 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902746 ms (missed cycles : 2).[0m ×2 + 13.98sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 14.02sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 2.844ms + 14.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.994ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954635 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954635 ms (missed cycles : 3).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.115ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252214 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252214 ms (missed cycles : 2).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 17.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777762 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777762 ms (missed cycles : 2).[0m ×2 + 17.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663364 ms (missed cycles : 3). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663364 ms (missed cycles : 3).[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943092 ms (missed cycles : 3). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943092 ms (missed cycles : 3).[0m ×2 + 19.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 20.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 20.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096675 ms (missed cycles : 3). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096675 ms (missed cycles : 3).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060263 ms (missed cycles : 2). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060263 ms (missed cycles : 2).[0m ×2 + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790984 ms (missed cycles : 4). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790984 ms (missed cycles : 4).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941421 ms (missed cycles : 3). + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941421 ms (missed cycles : 3).[0m ×2 + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400716 ms (missed cycles : 5). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400716 ms (missed cycles : 5).[0m ×2 + 25.01sWARNros2_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 + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.145ms + 25.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744081 ms (missed cycles : 2). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744081 ms (missed cycles : 2).[0m ×2 + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069565 ms (missed cycles : 2). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069565 ms (missed cycles : 2).[0m ×2 + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 27.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902244 ms (missed cycles : 3). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902244 ms (missed cycles : 3).[0m ×2 + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969666 ms (missed cycles : 3). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969666 ms (missed cycles : 3).[0m ×2 + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.628ms + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745199 ms (missed cycles : 3). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745199 ms (missed cycles : 3).[0m ×2 + 30.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 30.87sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768662 ms (missed cycles : 3). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768662 ms (missed cycles : 3).[0m ×2 + 31.19sWARNros2_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 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940229 ms (missed cycles : 2). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940229 ms (missed cycles : 2).[0m ×2 + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 33.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.240ms + 33.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779941 ms (missed cycles : 3). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779941 ms (missed cycles : 3).[0m ×2 + 34.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100089 ms (missed cycles : 2). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100089 ms (missed cycles : 2).[0m ×2 + 34.76sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.76sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.16sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413702 ms (missed cycles : 2). + 35.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413702 ms (missed cycles : 2).[0m ×2 + 35.58sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307646 ms (missed cycles : 5). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307646 ms (missed cycles : 5).[0m ×2 + 37.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855858 ms (missed cycles : 3). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855858 ms (missed cycles : 3).[0m ×2 + 38.37sINFOobjective_server_nodePlanning for 15 path waypoints. ×6 + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511085 ms (missed cycles : 3). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511085 ms (missed cycles : 3).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886212 ms (missed cycles : 4). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886212 ms (missed cycles : 4).[0m ×2 + 40.68sWARNros2_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 + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019455 ms (missed cycles : 4). + 40.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019455 ms (missed cycles : 4).[0m ×2 + 41.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 41.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608192 ms (missed cycles : 4). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608192 ms (missed cycles : 4).[0m ×2 + 41.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 42.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798799 ms (missed cycles : 3). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798799 ms (missed cycles : 3).[0m ×2 + 43.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 43.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902678 ms (missed cycles : 3). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902678 ms (missed cycles : 3).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229404 ms (missed cycles : 4). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229404 ms (missed cycles : 4).[0m ×2 + 45.70sWARNros2_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 + 46.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621344 ms (missed cycles : 3). + 46.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621344 ms (missed cycles : 3).[0m ×2 + 46.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 47.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320616 ms (missed cycles : 2). + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320616 ms (missed cycles : 2).[0m ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299564 ms (missed cycles : 4). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299564 ms (missed cycles : 4).[0m ×2 + 49.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 50.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280962 ms (missed cycles : 3). + 50.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280962 ms (missed cycles : 3).[0m ×2 + 50.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030073 ms (missed cycles : 5). + 51.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030073 ms (missed cycles : 5).[0m ×2 + 51.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 52.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.992473 ms (missed cycles : 5). + 52.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.992473 ms (missed cycles : 5).[0m ×2 + 52.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.69 s); lidar_front (0.69 s); lidar_rear (0.69 s); wrist_camera (0.69 s). The render path has stopped producing new frames for them.[0m ×2 + 53.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885179 ms (missed cycles : 4). + 53.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885179 ms (missed cycles : 4).[0m ×2 + 54.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502374 ms (missed cycles : 3). + 54.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502374 ms (missed cycles : 3).[0m ×2 + 55.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541881 ms (missed cycles : 3). + 55.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541881 ms (missed cycles : 3).[0m ×2 + 56.45sWARNros2_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 + 56.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 56.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672766 ms (missed cycles : 4). + 56.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672766 ms (missed cycles : 4).[0m ×2 + 57.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 57.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 57.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913066 ms (missed cycles : 3). + 57.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913066 ms (missed cycles : 3).[0m ×2 + 58.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 58.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987576 ms (missed cycles : 3). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987576 ms (missed cycles : 3).[0m ×2 + 59.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748851 ms (missed cycles : 2). + 59.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748851 ms (missed cycles : 2).[0m ×2 + 61.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029994 ms (missed cycles : 4). + 61.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029994 ms (missed cycles : 4).[0m ×2 + 61.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.711ms + 61.57sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 62.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215520 ms (missed cycles : 4). + 62.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215520 ms (missed cycles : 4).[0m ×2 + 63.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332062 ms (missed cycles : 2). + 63.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332062 ms (missed cycles : 2).[0m ×2 + 63.20sWARNros2_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 + 64.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.044885 ms (missed cycles : 6). + 64.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.044885 ms (missed cycles : 6).[0m ×2 + 65.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031794 ms (missed cycles : 3). + 65.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031794 ms (missed cycles : 3).[0m ×2 + 66.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212149 ms (missed cycles : 2). + 66.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212149 ms (missed cycles : 2).[0m ×2 + 66.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 67.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223474 ms (missed cycles : 2). + 67.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223474 ms (missed cycles : 2).[0m ×2 + 68.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 68.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179946 ms (missed cycles : 3). + 68.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179946 ms (missed cycles : 3).[0m ×2 + 69.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.920ms + 69.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072256 ms (missed cycles : 3). + 69.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072256 ms (missed cycles : 3).[0m ×2 + 70.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815954 ms (missed cycles : 3). + 70.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815954 ms (missed cycles : 3).[0m ×2 + 70.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.465ms + 70.98sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788546984.62756252 seconds ×3 + 71.06sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 71.06sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 71.26sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 71.26sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 71.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172312 ms (missed cycles : 5). + 71.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172312 ms (missed cycles : 5).[0m ×2 + 71.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 71.52sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 71.56sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788546985.20570755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 71.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.357ms + 72.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481684 ms (missed cycles : 3). + 72.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481684 ms (missed cycles : 3).[0m ×2 + 73.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672265 ms (missed cycles : 2). + 73.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672265 ms (missed cycles : 2).[0m ×2 + 74.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 74.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 74.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.3s | 240 warnings · 201 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546991.05584908 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_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 6.419243 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546991.64703608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4).[0m ×2 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837428 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837428 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632117 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632117 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054849 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054849 ms (missed cycles : 3).[0m ×2 + 8.63sWARNros2_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 + 8.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.202ms + 9.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.977ms + 9.78sWARNros2_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 + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.930ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425232 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425232 ms (missed cycles : 2).[0m ×2 + 10.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.439ms + 10.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.603ms + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407355 ms (missed cycles : 4). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407355 ms (missed cycles : 4).[0m ×2 + 11.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.802ms + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248579 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248579 ms (missed cycles : 2).[0m ×2 + 12.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.055ms + 12.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.740ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828616 ms (missed cycles : 4). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828616 ms (missed cycles : 4).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 4787 particles 723 points - 8.102ms + 13.94sWARNros2_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 + 13.98sINFOamclParticle filter update iteration stats: 3534 particles 723 points - 6.713ms + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494280 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494280 ms (missed cycles : 2).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 4.353ms + 15.17sWARNros2_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 + 15.18sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.960ms + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037295 ms (missed cycles : 3). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037295 ms (missed cycles : 3).[0m ×2 + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 16.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182868 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182868 ms (missed cycles : 2).[0m ×2 + 17.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843649 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843649 ms (missed cycles : 2).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 18.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053973 ms (missed cycles : 2). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053973 ms (missed cycles : 2).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms ×3 + 19.56sWARNros2_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 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751250 ms (missed cycles : 3). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751250 ms (missed cycles : 3).[0m ×2 + 20.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×4 + 20.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153832 ms (missed cycles : 3). + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153832 ms (missed cycles : 3).[0m ×2 + 20.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 21.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322744 ms (missed cycles : 2). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322744 ms (missed cycles : 2).[0m ×2 + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355569 ms (missed cycles : 3). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355569 ms (missed cycles : 3).[0m ×2 + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294507 ms (missed cycles : 4). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294507 ms (missed cycles : 4).[0m ×2 + 24.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057737 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057737 ms (missed cycles : 2).[0m ×2 + 25.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 25.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645535 ms (missed cycles : 3). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645535 ms (missed cycles : 3).[0m ×2 + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.550ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322434 ms (missed cycles : 5). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322434 ms (missed cycles : 5).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965608 ms (missed cycles : 4). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965608 ms (missed cycles : 4).[0m ×2 + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098549 ms (missed cycles : 3). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098549 ms (missed cycles : 3).[0m ×2 + 29.66sWARNros2_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 + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898790 ms (missed cycles : 2). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898790 ms (missed cycles : 2).[0m ×2 + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 30.95sWARNros2_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 + 30.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673803 ms (missed cycles : 3). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673803 ms (missed cycles : 3).[0m ×2 + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 32.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957772 ms (missed cycles : 3). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957772 ms (missed cycles : 3).[0m ×2 + 32.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130006 ms (missed cycles : 3). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130006 ms (missed cycles : 3).[0m ×2 + 34.53sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917701 ms (missed cycles : 3). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917701 ms (missed cycles : 3).[0m ×2 + 34.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985157 ms (missed cycles : 3). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985157 ms (missed cycles : 3).[0m ×2 + 36.07sWARNros2_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 ×4 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487382 ms (missed cycles : 4). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487382 ms (missed cycles : 4).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141366 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141366 ms (missed cycles : 2).[0m ×2 + 38.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.396466 ms (missed cycles : 6). + 38.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.396466 ms (missed cycles : 6).[0m ×2 + 39.83sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 40.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234671 ms (missed cycles : 2). + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234671 ms (missed cycles : 2).[0m ×2 + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750964 ms (missed cycles : 3). + 41.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750964 ms (missed cycles : 3).[0m ×2 + 41.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×2 + 41.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.817ms + 42.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969512 ms (missed cycles : 2). + 42.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969512 ms (missed cycles : 2).[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042320 ms (missed cycles : 2). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042320 ms (missed cycles : 2).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264977 ms (missed cycles : 2). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264977 ms (missed cycles : 2).[0m ×2 + 44.97sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348836 ms (missed cycles : 2). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348836 ms (missed cycles : 2).[0m ×2 + 46.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230860 ms (missed cycles : 3). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230860 ms (missed cycles : 3).[0m ×2 + 47.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467692 ms (missed cycles : 3). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467692 ms (missed cycles : 3).[0m ×2 + 48.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999460 ms (missed cycles : 3). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999460 ms (missed cycles : 3).[0m ×2 + 48.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.033ms + 49.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958238 ms (missed cycles : 4). + 49.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958238 ms (missed cycles : 4).[0m ×2 + 50.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303167 ms (missed cycles : 3). + 50.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303167 ms (missed cycles : 3).[0m ×2 + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865908 ms (missed cycles : 2). + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865908 ms (missed cycles : 2).[0m ×2 + 51.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 52.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970120 ms (missed cycles : 2). + 52.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970120 ms (missed cycles : 2).[0m ×2 + 53.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922892 ms (missed cycles : 3). + 53.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922892 ms (missed cycles : 3).[0m ×2 + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445401 ms (missed cycles : 3). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445401 ms (missed cycles : 3).[0m ×2 + 55.07sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 55.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 56.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192721 ms (missed cycles : 5). + 56.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192721 ms (missed cycles : 5).[0m ×2 + 57.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670712 ms (missed cycles : 3). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670712 ms (missed cycles : 3).[0m ×2 + 58.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 58.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 59.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665743 ms (missed cycles : 2). + 59.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665743 ms (missed cycles : 2).[0m ×2 + 60.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788547048.40716648 seconds ×3 + 60.14sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 60.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 60.18sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.19sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078785 ms (missed cycles : 2). + 60.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078785 ms (missed cycles : 2).[0m ×2 + 60.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.64sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788547049.00588202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.336ms + 61.13sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 61.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974078 ms (missed cycles : 2). + 61.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974078 ms (missed cycles : 2).[0m ×2 + 62.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918568 ms (missed cycles : 2). + 62.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918568 ms (missed cycles : 2).[0m ×2 + 63.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234616 ms (missed cycles : 2). + 63.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234616 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 248 warnings · 206 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139038 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139038 ms (missed cycles : 3).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978867 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978867 ms (missed cycles : 2).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 2.47sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.47sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788546757.00884748 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788546757.58163166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 3.42sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.45sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 3.808ms + 4.02sWARNros2_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 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214548 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214548 ms (missed cycles : 5).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397816 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397816 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.79sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.79sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.79sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.79sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493406 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493406 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749347 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749347 ms (missed cycles : 3).[0m ×2 + 7.95sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.502ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865714 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865714 ms (missed cycles : 3).[0m ×2 + 9.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.08sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 5.021ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568328 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568328 ms (missed cycles : 3).[0m ×2 + 9.63sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.705ms + 9.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.253ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842600 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842600 ms (missed cycles : 2).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 11.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060081 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060081 ms (missed cycles : 3).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642186 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642186 ms (missed cycles : 2).[0m ×2 + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 13.76sWARNros2_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 ×12 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361397 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361397 ms (missed cycles : 3).[0m ×2 + 14.39sWARNros2_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 + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813170 ms (missed cycles : 4). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813170 ms (missed cycles : 4).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.311ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481415 ms (missed cycles : 3). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481415 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632066 ms (missed cycles : 5). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632066 ms (missed cycles : 5).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886354 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886354 ms (missed cycles : 2).[0m ×2 + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.233ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372162 ms (missed cycles : 3). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372162 ms (missed cycles : 3).[0m ×2 + 19.86sWARNros2_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 + 19.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102407 ms (missed cycles : 2). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102407 ms (missed cycles : 2).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020699 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020699 ms (missed cycles : 3).[0m ×2 + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938486 ms (missed cycles : 3). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938486 ms (missed cycles : 3).[0m ×2 + 22.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121056 ms (missed cycles : 3). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121056 ms (missed cycles : 3).[0m ×2 + 23.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 24.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744705 ms (missed cycles : 2). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744705 ms (missed cycles : 2).[0m ×2 + 24.75sWARNros2_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 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.486ms + 25.41sWARNros2_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 + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345544 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345544 ms (missed cycles : 2).[0m ×2 + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563665 ms (missed cycles : 3). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563665 ms (missed cycles : 3).[0m ×2 + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.194ms ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676351 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676351 ms (missed cycles : 2).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 28.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842710 ms (missed cycles : 4). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842710 ms (missed cycles : 4).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.170084 ms (missed cycles : 5). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.170084 ms (missed cycles : 5).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476734 ms (missed cycles : 2). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476734 ms (missed cycles : 2).[0m ×2 + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 31.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570801 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570801 ms (missed cycles : 2).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232754 ms (missed cycles : 5). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232754 ms (missed cycles : 5).[0m ×2 + 32.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146798 ms (missed cycles : 3). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146798 ms (missed cycles : 3).[0m ×2 + 34.20sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.80sWARNros2_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 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967384 ms (missed cycles : 2). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967384 ms (missed cycles : 2).[0m ×2 + 36.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917513 ms (missed cycles : 3). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917513 ms (missed cycles : 3).[0m ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487093 ms (missed cycles : 3). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487093 ms (missed cycles : 3).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870226 ms (missed cycles : 3). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870226 ms (missed cycles : 3).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150924 ms (missed cycles : 3). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150924 ms (missed cycles : 3).[0m ×2 + 40.43sWARNros2_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 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308636 ms (missed cycles : 2). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308636 ms (missed cycles : 2).[0m ×2 + 41.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.248ms + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904243 ms (missed cycles : 4). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904243 ms (missed cycles : 4).[0m ×2 + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057920 ms (missed cycles : 3). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057920 ms (missed cycles : 3).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123384 ms (missed cycles : 2). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123384 ms (missed cycles : 2).[0m ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212156 ms (missed cycles : 2). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212156 ms (missed cycles : 2).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042763 ms (missed cycles : 4). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042763 ms (missed cycles : 4).[0m ×2 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027820 ms (missed cycles : 4). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027820 ms (missed cycles : 4).[0m ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284041 ms (missed cycles : 3). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284041 ms (missed cycles : 3).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729418 ms (missed cycles : 2). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729418 ms (missed cycles : 2).[0m ×2 + 49.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051287 ms (missed cycles : 2). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051287 ms (missed cycles : 2).[0m ×2 + 50.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176846 ms (missed cycles : 3). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176846 ms (missed cycles : 3).[0m ×2 + 51.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636552 ms (missed cycles : 4). + 52.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636552 ms (missed cycles : 4).[0m ×2 + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726439 ms (missed cycles : 3). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726439 ms (missed cycles : 3).[0m ×2 + 54.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117780 ms (missed cycles : 4). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117780 ms (missed cycles : 4).[0m ×2 + 55.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480182 ms (missed cycles : 3). + 55.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480182 ms (missed cycles : 3).[0m ×2 + 55.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 56.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868058 ms (missed cycles : 5). + 56.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868058 ms (missed cycles : 5).[0m ×2 + 57.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2). + 57.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2).[0m ×2 + 57.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 58.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3).[0m ×2 + 59.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3). + 59.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3).[0m ×2 + 59.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 59.79sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546814.31176257 seconds ×3 + 59.89sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.89sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.29sWARNlocal_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 + 60.29sWARNlocal_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 + 60.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546814.89959955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 60.82sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 60.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.098ms + 61.15sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3). + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3).[0m ×2 + 62.02sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 62.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2). + 62.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2).[0m ×2 + 63.12sWARNros2_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 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.3s | 251 warnings · 219 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.387ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.698ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.68sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.72sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546853.43320823 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNros2_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 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788546854.01455188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.628ms + 4.39sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.00sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.01sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.01sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685191 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685191 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990991 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990991 ms (missed cycles : 2).[0m ×2 + 8.43sWARNros2_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 + 8.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.650ms + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305665 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305665 ms (missed cycles : 3).[0m ×2 + 9.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.572ms + 9.57sWARNros2_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 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.148ms + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101855 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101855 ms (missed cycles : 2).[0m ×2 + 10.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.627ms + 10.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.570ms + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409890 ms (missed cycles : 4). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409890 ms (missed cycles : 4).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.364ms + 11.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.095ms + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145328 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145328 ms (missed cycles : 2).[0m ×2 + 12.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.594ms + 13.15sINFOamclParticle filter update iteration stats: 4021 particles 723 points - 7.128ms + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664616 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664616 ms (missed cycles : 2).[0m ×2 + 13.71sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 13.75sINFOamclParticle filter update iteration stats: 3274 particles 723 points - 5.569ms + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600928 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600928 ms (missed cycles : 2).[0m ×2 + 14.35sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 4.563ms + 14.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 3.404ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111552 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111552 ms (missed cycles : 2).[0m ×2 + 15.52sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.448ms + 16.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.613ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766807 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766807 ms (missed cycles : 2).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.568ms + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149482 ms (missed cycles : 4). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149482 ms (missed cycles : 4).[0m ×2 + 18.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148623 ms (missed cycles : 2). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148623 ms (missed cycles : 2).[0m ×2 + 18.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305755 ms (missed cycles : 3). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305755 ms (missed cycles : 3).[0m ×2 + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 20.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 20.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739957 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739957 ms (missed cycles : 2).[0m ×2 + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828092 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828092 ms (missed cycles : 2).[0m ×2 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 23.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642272 ms (missed cycles : 5). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642272 ms (missed cycles : 5).[0m ×2 + 23.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764388 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764388 ms (missed cycles : 2).[0m ×2 + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 24.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765061 ms (missed cycles : 4). + 25.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765061 ms (missed cycles : 4).[0m ×2 + 25.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 25.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232421 ms (missed cycles : 2). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232421 ms (missed cycles : 2).[0m ×2 + 26.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292355 ms (missed cycles : 4). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292355 ms (missed cycles : 4).[0m ×2 + 27.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 28.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469513 ms (missed cycles : 3). + 28.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469513 ms (missed cycles : 3).[0m ×2 + 28.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 29.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465271 ms (missed cycles : 3). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465271 ms (missed cycles : 3).[0m ×2 + 29.81sWARNros2_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 + 29.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 30.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180527 ms (missed cycles : 4). + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180527 ms (missed cycles : 4).[0m ×2 + 31.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.265ms + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581778 ms (missed cycles : 3). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581778 ms (missed cycles : 3).[0m ×2 + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 32.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646988 ms (missed cycles : 2). + 32.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646988 ms (missed cycles : 2).[0m ×2 + 33.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205565 ms (missed cycles : 3). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205565 ms (missed cycles : 3).[0m ×2 + 33.80sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119095 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119095 ms (missed cycles : 2).[0m ×2 + 34.92sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373021 ms (missed cycles : 3). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373021 ms (missed cycles : 3).[0m ×2 + 36.22sWARNros2_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 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292867 ms (missed cycles : 2). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292867 ms (missed cycles : 2).[0m ×2 + 37.69sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144996 ms (missed cycles : 2). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144996 ms (missed cycles : 2).[0m ×2 + 38.44sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879459 ms (missed cycles : 5). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879459 ms (missed cycles : 5).[0m ×2 + 40.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739713 ms (missed cycles : 5). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739713 ms (missed cycles : 5).[0m ×2 + 40.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 41.25sWARNros2_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 + 41.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949296 ms (missed cycles : 2). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949296 ms (missed cycles : 2).[0m ×2 + 41.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828558 ms (missed cycles : 3). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828558 ms (missed cycles : 3).[0m ×2 + 43.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.670ms + 43.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629698 ms (missed cycles : 3). + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629698 ms (missed cycles : 3).[0m ×2 + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331386 ms (missed cycles : 2). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331386 ms (missed cycles : 2).[0m ×2 + 45.61sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042000 ms (missed cycles : 3). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042000 ms (missed cycles : 3).[0m ×2 + 46.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573169 ms (missed cycles : 3). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573169 ms (missed cycles : 3).[0m ×2 + 46.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 47.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.537ms + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629335 ms (missed cycles : 3). + 47.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629335 ms (missed cycles : 3).[0m ×2 + 48.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 48.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033003 ms (missed cycles : 3). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033003 ms (missed cycles : 3).[0m ×2 + 49.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 50.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395730 ms (missed cycles : 3). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395730 ms (missed cycles : 3).[0m ×2 + 51.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974993 ms (missed cycles : 2). + 51.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974993 ms (missed cycles : 2).[0m ×2 + 51.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 52.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465731 ms (missed cycles : 2). + 52.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465731 ms (missed cycles : 2).[0m ×2 + 53.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 53.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296120 ms (missed cycles : 2). + 53.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296120 ms (missed cycles : 2).[0m ×2 + 54.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941677 ms (missed cycles : 2). + 54.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941677 ms (missed cycles : 2).[0m ×2 + 54.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 55.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788546905.72469568 seconds ×3 + 55.09sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.09sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600095 ms (missed cycles : 4). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600095 ms (missed cycles : 4).[0m ×2 + 55.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.55sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.59sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788546906.30158973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.59sWARNlocal_costmap.local_costmapSensor origin at (-1.32, 7.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.59sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 8.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.400ms + 56.02sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 56.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.592ms + 56.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506387 ms (missed cycles : 2). + 56.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506387 ms (missed cycles : 2).[0m ×2 + 56.76sWARNros2_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 + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703997 ms (missed cycles : 3). + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703997 ms (missed cycles : 3).[0m ×2 + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340582 ms (missed cycles : 3). + 58.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340582 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.4s | 181 warnings · 382 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.01sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.01sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.01sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.01sINFOobjective_server_nodecaller: ×12 + 1.01sINFOobjective_server_nodetype: 0 ×12 + 1.01sINFOobjective_server_nodename: "" ×12 + 1.01sINFOobjective_server_nodeinstance_id: "" ×12 + 1.01sINFOobjective_server_node ×12 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.04sINFOmove_groupClearing octomap...[0m ×2 + 1.04sINFOmove_groupOctomap cleared.[0m ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.66sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 2.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.24sWARNros2_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 ×8 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864078 ms (missed cycles : 2). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864078 ms (missed cycles : 2).[0m ×2 + 7.77sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×12 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134976 ms (missed cycles : 3). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134976 ms (missed cycles : 3).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027005 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027005 ms (missed cycles : 2).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908563 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908563 ms (missed cycles : 3).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043424 ms (missed cycles : 3). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043424 ms (missed cycles : 3).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089307 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089307 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947617 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947617 ms (missed cycles : 2).[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918049 ms (missed cycles : 3). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918049 ms (missed cycles : 3).[0m ×2 + 14.59sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.867ms + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349849 ms (missed cycles : 4). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349849 ms (missed cycles : 4).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298773 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298773 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817720 ms (missed cycles : 3). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817720 ms (missed cycles : 3).[0m ×2 + 18.53sWARNros2_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 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548750 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548750 ms (missed cycles : 2).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480049 ms (missed cycles : 3). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480049 ms (missed cycles : 3).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845910 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845910 ms (missed cycles : 2).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392116 ms (missed cycles : 3). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392116 ms (missed cycles : 3).[0m ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579326 ms (missed cycles : 3). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579326 ms (missed cycles : 3).[0m ×2 + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124410 ms (missed cycles : 4). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124410 ms (missed cycles : 4).[0m ×2 + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155086 ms (missed cycles : 2). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155086 ms (missed cycles : 2).[0m ×2 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934520 ms (missed cycles : 3). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934520 ms (missed cycles : 3).[0m ×2 + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915321 ms (missed cycles : 3). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915321 ms (missed cycles : 3).[0m ×2 + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100471 ms (missed cycles : 3). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100471 ms (missed cycles : 3).[0m ×2 + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669766 ms (missed cycles : 4). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669766 ms (missed cycles : 4).[0m ×2 + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745529 ms (missed cycles : 4). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745529 ms (missed cycles : 4).[0m ×2 + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590804 ms (missed cycles : 3). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590804 ms (missed cycles : 3).[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792805 ms (missed cycles : 3). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792805 ms (missed cycles : 3).[0m ×2 + 33.13sWARNros2_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 + 33.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848732 ms (missed cycles : 3). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848732 ms (missed cycles : 3).[0m ×2 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692451 ms (missed cycles : 3). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692451 ms (missed cycles : 3).[0m ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616425 ms (missed cycles : 2). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616425 ms (missed cycles : 2).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987799 ms (missed cycles : 2). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987799 ms (missed cycles : 2).[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374420 ms (missed cycles : 3). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374420 ms (missed cycles : 3).[0m ×2 + 38.78sWARNros2_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 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134261 ms (missed cycles : 2). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134261 ms (missed cycles : 2).[0m ×2 + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365131 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365131 ms (missed cycles : 3).[0m ×2 + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399089 ms (missed cycles : 4). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399089 ms (missed cycles : 4).[0m ×2 + 42.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381915 ms (missed cycles : 3). + 42.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381915 ms (missed cycles : 3).[0m ×2 + 42.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 43.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2).[0m ×2 + 43.82sWARNros2_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 + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669676 ms (missed cycles : 3). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669676 ms (missed cycles : 3).[0m ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997182 ms (missed cycles : 2). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997182 ms (missed cycles : 2).[0m ×2 + 46.39sINFOjoint_trajectory_controllerGoal reached, success! + 46.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788546750.91095304 seconds ×3 + 46.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473666 ms (missed cycles : 2). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473666 ms (missed cycles : 2).[0m ×2 + 46.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.96sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788546751.49871802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608473 ms (missed cycles : 3). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608473 ms (missed cycles : 3).[0m ×2 + 48.06sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 48.13sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604738 ms (missed cycles : 2). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604738 ms (missed cycles : 2).[0m ×2 + 50.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4). + 50.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 153 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684457 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684457 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640170 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640170 ms (missed cycles : 3).[0m ×2 + 1.02sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.02sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.07sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788546820.73973751 seconds ×3 + 1.94sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851207 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851207 ms (missed cycles : 3).[0m ×2 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.60sINFOobjective_server_nodecaller: ×4 + 2.60sINFOobjective_server_nodetype: 0 ×4 + 2.60sINFOobjective_server_nodename: "" ×4 + 2.60sINFOobjective_server_nodeinstance_id: "" ×4 + 2.60sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788546822.31304932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.10sWARNros2_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 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924822 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924822 ms (missed cycles : 3).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469138 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469138 ms (missed cycles : 3).[0m ×2 + 4.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927768 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927768 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846519 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846519 ms (missed cycles : 4).[0m ×2 + 7.16sWARNros2_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 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163931 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163931 ms (missed cycles : 2).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.838ms + 8.37sWARNros2_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 + 8.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.064ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064410 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064410 ms (missed cycles : 2).[0m ×2 + 8.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.579ms + 9.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.914ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572074 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572074 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.935ms + 10.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.082ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273159 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273159 ms (missed cycles : 2).[0m ×2 + 11.38sINFOamclParticle filter update iteration stats: 3959 particles 723 points - 7.399ms + 12.00sINFOamclParticle filter update iteration stats: 2450 particles 723 points - 6.038ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075868 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075868 ms (missed cycles : 2).[0m ×2 + 12.55sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.59sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.914ms + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.407ms + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690896 ms (missed cycles : 2). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690896 ms (missed cycles : 2).[0m ×2 + 13.76sWARNros2_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 + 13.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315913 ms (missed cycles : 2). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315913 ms (missed cycles : 2).[0m ×2 + 14.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 14.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964478 ms (missed cycles : 3). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964478 ms (missed cycles : 3).[0m ×2 + 15.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 16.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665429 ms (missed cycles : 3). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665429 ms (missed cycles : 3).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.323ms + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127163 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127163 ms (missed cycles : 3).[0m ×2 + 17.99sWARNros2_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 + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832283 ms (missed cycles : 3). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832283 ms (missed cycles : 3).[0m ×2 + 19.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.551116 ms (missed cycles : 6). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.551116 ms (missed cycles : 6).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532865 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532865 ms (missed cycles : 3).[0m ×2 + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272887 ms (missed cycles : 5). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272887 ms (missed cycles : 5).[0m ×2 + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 22.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338238 ms (missed cycles : 3). + 22.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338238 ms (missed cycles : 3).[0m ×2 + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 23.56sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642902 ms (missed cycles : 6). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642902 ms (missed cycles : 6).[0m ×2 + 24.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 24.84sWARNros2_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 + 24.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987769 ms (missed cycles : 3). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987769 ms (missed cycles : 3).[0m ×2 + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.523ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982673 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982673 ms (missed cycles : 2).[0m ×2 + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769590 ms (missed cycles : 2). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769590 ms (missed cycles : 2).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 27.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693320 ms (missed cycles : 2). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693320 ms (missed cycles : 2).[0m ×2 + 28.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.726ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761069 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761069 ms (missed cycles : 2).[0m ×2 + 29.13sWARNros2_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 + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366163 ms (missed cycles : 4). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366163 ms (missed cycles : 4).[0m ×2 + 30.38sWARNros2_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 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.591ms + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.387ms + 31.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4). + 31.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4).[0m ×2 + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.698ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5).[0m ×2 + 33.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 33.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546853.43320823 seconds ×3 + 33.83sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 33.83sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.33sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.33sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788546854.01455188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3). + 34.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3).[0m ×2 + 34.74sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 34.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.628ms + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3).[0m ×2 + 36.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.4s | 92 warnings · 240 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670712 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670712 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665743 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665743 ms (missed cycles : 2).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.01sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788547048.40716648 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078785 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078785 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.57sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.57sINFOobjective_server_nodecaller: ×6 + 3.57sINFOobjective_server_nodetype: 0 ×6 + 3.57sINFOobjective_server_nodename: "" ×6 + 3.57sINFOobjective_server_nodeinstance_id: "" ×6 + 3.57sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788547049.00588202 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 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.336ms + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974078 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974078 ms (missed cycles : 2).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918568 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918568 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234616 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234616 ms (missed cycles : 2).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830420 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830420 ms (missed cycles : 2).[0m ×2 + 8.22sWARNros2_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 3.862692 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862692 ms (missed cycles : 3).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058736 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058736 ms (missed cycles : 2).[0m ×2 + 9.97sWARNros2_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 + 10.09sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 10.13sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 10.25sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 10.40sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 10.75sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.80sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291608 ms (missed cycles : 3). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291608 ms (missed cycles : 3).[0m ×2 + 11.17sINFOobjective_server_nodeFound path in 33 iterations (0.0350143 s). ×2 + 11.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.76sINFOobjective_server_nodeFound path in 0 iterations (1.167e-06 s). ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000941 ms (missed cycles : 5). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000941 ms (missed cycles : 5).[0m ×2 + 12.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.47sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318552 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318552 ms (missed cycles : 3).[0m ×2 + 13.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.40sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.48sWARNros2_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 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307478 ms (missed cycles : 3). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307478 ms (missed cycles : 3).[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417714 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417714 ms (missed cycles : 3).[0m ×2 + 15.22sWARNros2_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 + 15.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.437ms + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794258 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794258 ms (missed cycles : 2).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 18.327ms + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810878 ms (missed cycles : 3). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810878 ms (missed cycles : 3).[0m ×2 + 17.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.229ms + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671581 ms (missed cycles : 2). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671581 ms (missed cycles : 2).[0m ×2 + 18.70sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.668ms + 19.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788547064.78744936 seconds ×3 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793062 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793062 ms (missed cycles : 3).[0m ×2 + 19.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.94sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788547065.40552187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.02sINFOmove_groupClearing octomap...[0m ×2 + 20.02sINFOmove_groupOctomap cleared.[0m ×2 + 20.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.085ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778781 ms (missed cycles : 4). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778781 ms (missed cycles : 4).[0m ×2 + 20.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788547066.24561572 seconds ×3 + 21.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788547066.81904507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226848 ms (missed cycles : 3). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226848 ms (missed cycles : 3).[0m ×2 + 22.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788547067.46917892 seconds ×3 + 22.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794988 ms (missed cycles : 4). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 104 errors · 38 warnings · 515 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671581 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671581 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_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 + 0.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.668ms + 0.68sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOjoint_trajectory_controllerGoal reached, success! + 0.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788547064.78744936 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793062 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793062 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.49sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.49sINFOobjective_server_nodecaller: ×4 + 1.49sINFOobjective_server_nodetype: 0 ×4 + 1.49sINFOobjective_server_nodename: "" ×4 + 1.49sINFOobjective_server_nodeinstance_id: "" ×4 + 1.49sINFOobjective_server_node ×4 + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788547065.40552187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.57sINFOmove_groupClearing octomap...[0m ×2 + 1.57sINFOmove_groupOctomap cleared.[0m ×2 + 1.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.085ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778781 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778781 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788547066.24561572 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 2.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788547066.81904507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226848 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226848 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788547067.46917892 seconds ×3 + 3.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794988 ms (missed cycles : 4). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794988 ms (missed cycles : 4).[0m ×2 + 5.36sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849437 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849437 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147028 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147028 ms (missed cycles : 2).[0m ×2 + 7.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702575 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702575 ms (missed cycles : 3).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769815 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769815 ms (missed cycles : 3).[0m ×2 + 10.00sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.04sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.05sERRORweb_video_auth_proxy-38process has died [pid 7811, 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 + 10.05sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.05sERRORweb_bridge_auth_proxy-37process has died [pid 7807, 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 + 10.05sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.06sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154686 ms (missed cycles : 5). + 10.07sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.09sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.09sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.10sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.12sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.13sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.14sINFOvideo_server-36process has finished cleanly [pid 7805] ×2 + 10.14sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.15sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.16sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.17sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.19sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.19sINFOcontroller_managerShutdown request received.... + 10.19sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.19sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.19sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.19sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.19sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.19sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.19sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.19sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.19sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.19sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.19sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.19sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.19sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.19sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.20sINFOcontroller_managerShutting down the controller manager. + 10.20sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.21sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.22sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.22sERRORmove_group-24process has died [pid 7741, 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_74on63pq --params-file /tmp/launch_params_5nmzy71f --params-file /tmp/launch_params_re8a9qvo --params-file /tmp/launch_params_m5pujkzn --params-file /tmp/launch_params_ls9_28mv --params-file /tmp/launch_params_p3wj15p9']. ×2 + 10.23sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.24sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.25sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.26sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.27sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.28sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.29sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.29sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.29sINFOmap_serverDeactivating + 10.29sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.30sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.30sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.30sINFOcontroller_serverDeactivating + 10.30sINFOlocal_costmap.local_costmapDeactivating + 10.30sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.30sINFOvideo_server2026/09/04 18:37:53 INF shutting down gracefully ×2 + 10.30sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.30sINFOmap_serverCleaning up + 10.30sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.30sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.30sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154686 ms (missed cycles : 5).[0m ×2 + 10.30sINFOvideo_server2026/09/04 18:37:53 INF [WebRTC] closing ×2 + 10.30sINFOvideo_server2026/09/04 18:37:53 INF [RTSP] closing ×2 + 10.30sINFOvideo_server2026/09/04 18:37:53 INF waiting for running hooks ×2 + 10.30sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.30sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.30sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.30sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.30sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.30sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.30sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.30sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.30sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.30sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.30sERRORmove_groupStack trace (most recent call last) in thread 8431: ×2 + 10.30sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.30sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1653137a63, in __clone ×2 + 10.30sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f16530aaaa3, in ×2 + 10.30sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f165333cdb3, in ×2 + 10.30sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f1653aa1a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.30sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f16536ce620, in rclcpp::Rate::sleep() ×2 + 10.30sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1653610d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.30sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f16535d2087, in ×2 + 10.30sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f165330b390, in __cxa_throw ×2 + 10.30sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f16532f5a54, in std::terminate() ×2 + 10.30sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f165330b0d9, in ×2 + 10.30sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f16532f5ff4, in ×2 + 10.30sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f16530368fe, in abort ×2 + 10.30sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f165305327d, in raise ×2 + 10.30sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f16530acb2c, in pthread_kill ×2 + 10.30sERRORmove_groupAborted (Signal sent by tkill() 7741 0) ×2 + 10.30sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.30sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.30sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.30sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.30sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.30sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.30sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.30sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.30sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.31sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.31sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.31sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.31sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.31sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.31sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.31sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.31sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.31sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.31sINFOodom_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 + 10.31sINFOodom_qos_relay.pymain() ×2 + 10.31sINFOodom_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 + 10.31sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.31sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.31sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.31sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.31sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.31sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.31sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.31sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.31sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.31sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.32sERRORamclThe bond connection to the lifecycle manager has been broken + 10.36sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.37sINFOcontroller_serverCleaning up + 10.37sINFOlocal_costmap.local_costmapCleaning up + 10.41sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.41sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.41sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.42sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.42sINFOsmoother_serverDeactivating + 10.42sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.43sINFOsmoother_serverCleaning up + 10.44sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.44sINFOplanner_serverDeactivating + 10.44sINFOglobal_costmap.global_costmapDeactivating + 10.53sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.53sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.53sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.53sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.53sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.53sINFOvelocity_smootherDeactivating + 10.53sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.64sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.64sINFOwaypoint_followerDeactivating + 10.64sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.68sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.68sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.69sINFOplanner_serverCleaning up + 10.71sINFOglobal_costmap.global_costmapCleaning up + 10.72sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.72sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.75sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.75sINFObehavior_serverDeactivating + 10.75sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.75sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.75sINFObt_navigatorDeactivating + 10.75sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.76sINFObehavior_serverCleaning up + 10.76sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.76sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.76sINFOwaypoint_followerCleaning up + 10.77sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.77sINFOvelocity_smootherCleaning up + 10.77sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.87sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.87sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.87sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.87sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.87sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.87sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.87sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.88sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.88sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.88sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.88sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.89sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.90sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.90sINFObt_navigatorCleaning up + 11.08sINFObt_navigatorCompleted Cleaning up + 11.08sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.08sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.08sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.08sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.08sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.08sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.08sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.08sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.08sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.12sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7803] ×2 + 11.12sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.19sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7796] ×2 + 11.20sINFOui_teleop_bridge-33process has finished cleanly [pid 7801] ×2 + 11.21sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7795] ×2 + 11.22sINFOcomponent_container_mt-31process has finished cleanly [pid 7799] ×2 + 11.22sINFOexecute_objective_bridge-32process has finished cleanly [pid 7800] ×2 + 11.24sINFOparameter_manager_node-25process has finished cleanly [pid 7793] ×2 + 11.25sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7728] ×2 + 11.25sINFOwaypoint_manager_node-26process has finished cleanly [pid 7794] ×2 + 11.27sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7727] ×2 + 11.27sINFOstatic_transform_publisher-9process has finished cleanly [pid 7642] ×2 + 11.27sINFOobjective_server_node[2026-09-04 18:37:55.114] [moveit_pro_license] [critical] ×2 + 11.27sINFOobjective_server_node************************************************* ×4 + 11.27sINFOobjective_server_node* MoveIt Pro License ×2 + 11.27sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.28sINFOstatic_transform_publisher-8process has finished cleanly [pid 7641] ×2 + 11.29sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.29sINFOlidar_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 + 11.29sINFOlidar_flattener.pymain() ×2 + 11.29sINFOlidar_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 + 11.29sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.29sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.29sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.29sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.29sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.29sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.29sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.29sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.29sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.32sINFOstatic_transform_publisher-4process has finished cleanly [pid 7637] ×2 + 11.33sINFOstatic_transform_publisher-3process has finished cleanly [pid 7636] ×2 + 11.35sERRORlidar_flattener.py-7process has died [pid 7640, 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_9kd8le3a']. ×2 + 11.36sINFOobjective_server_node_main-29process has finished cleanly [pid 7797] ×2 + 11.36sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.37sERRORodom_qos_relay.py-5process has died [pid 7638, 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 + 11.37sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7639] ×2 + 11.38sERRORcomponent_container_isolated-1process has died [pid 7634, 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_1r55piq6 --params-file /tmp/launch_params_f08x0gml -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.63sERRORcomponent_container_isolated-2process has died [pid 7635, 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_1r55piq6 --params-file /tmp/launch_params_4p7f6rqq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.32sINFOcomponent_container_mt-30process has finished cleanly [pid 7798] ×2 + 12.92sINFOros2_control_node-12process has finished cleanly [pid 7729] ×2 + 13.13sINFOweb_bridge-34process has finished cleanly [pid 7802] ×2 + 13.13sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 107 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465731 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296120 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296120 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941677 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941677 ms (missed cycles : 2).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788546905.72469568 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 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_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 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600095 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600095 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788546906.30158973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-1.32, 7.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 8.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.400ms + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.89sWARNros2_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 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.592ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506387 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506387 ms (missed cycles : 2).[0m ×2 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703997 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703997 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340582 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340582 ms (missed cycles : 3).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985375 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985375 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231615 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231615 ms (missed cycles : 2).[0m ×2 + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.726ms + 8.92sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009504 ms (missed cycles : 4). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009504 ms (missed cycles : 4).[0m ×2 + 9.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.828ms + 10.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.680ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212864 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212864 ms (missed cycles : 4).[0m ×2 + 10.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.986ms + 11.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.450ms + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824472 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824472 ms (missed cycles : 2).[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.158ms + 12.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365726 ms (missed cycles : 3). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365726 ms (missed cycles : 3).[0m ×2 + 12.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.762ms + 13.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.748ms + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458864 ms (missed cycles : 4). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458864 ms (missed cycles : 4).[0m ×2 + 13.66sINFOobjective_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 + 13.66sINFOjoint_trajectory_controllerGot request to cancel goal + 13.66sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.66sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.66sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.71sERRORobjective_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: 1788546916.69626427 seconds ×3 + 13.82sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.82sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.13sWARNros2_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 + 14.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.601ms + 14.22sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 14.22sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 14.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788546917.27739835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976503 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976503 ms (missed cycles : 3).[0m ×2 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 14.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 14.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.937ms + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506407 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506407 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118032 ms (missed cycles : 3). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118032 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 71 warnings · 142 info |
+ 0.00sWARNros2_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 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546814.31176257 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sWARNlocal_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 + 3.66sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546814.89959955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.098ms + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3).[0m ×2 + 5.39sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819845 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819845 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684457 ms (missed cycles : 5). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684457 ms (missed cycles : 5).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640170 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640170 ms (missed cycles : 3).[0m ×2 + 9.59sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788546820.73973751 seconds ×3 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851207 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851207 ms (missed cycles : 3).[0m ×2 + 11.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.13sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.17sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788546822.31304932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.56sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 11.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924822 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924822 ms (missed cycles : 3).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469138 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469138 ms (missed cycles : 3).[0m ×2 + 13.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.82sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927768 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927768 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 62 warnings · 138 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179946 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179946 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_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 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.920ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072256 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072256 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815954 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815954 ms (missed cycles : 3).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.465ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.81sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788546984.62756252 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172312 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172312 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788546985.20570755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.357ms + 3.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481684 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481684 ms (missed cycles : 3).[0m ×2 + 4.77sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672265 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672265 ms (missed cycles : 2).[0m ×2 + 5.93sWARNros2_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 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3).[0m ×2 + 9.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546991.05584908 seconds ×3 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4).[0m ×2 + 9.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.86sWARNros2_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 + 9.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546991.64703608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.26sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4).[0m ×2 + 11.08sWARNros2_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 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3).[0m ×2 + 12.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 48 warnings · 145 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 ×4 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669676 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669676 ms (missed cycles : 3).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997182 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997182 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788546750.91095304 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473666 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473666 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788546751.49871802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608473 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608473 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.90sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.61sWARNros2_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 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604738 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604738 ms (missed cycles : 2).[0m ×2 + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4).[0m ×2 + 7.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139038 ms (missed cycles : 3). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139038 ms (missed cycles : 3).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978867 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978867 ms (missed cycles : 2).[0m ×2 + 9.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 9.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788546757.00884748 seconds ×3 + 9.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.79sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788546757.58163166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 10.18sWARNros2_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 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 10.22sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 3.808ms + 10.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214548 ms (missed cycles : 5). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214548 ms (missed cycles : 5).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397816 ms (missed cycles : 3). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397816 ms (missed cycles : 3).[0m ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 30 warnings · 118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794258 ms (missed cycles : 2).[0m ×2 + 0.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 18.327ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810878 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810878 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.229ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671581 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671581 ms (missed cycles : 2).[0m ×2 + 2.45sWARNros2_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 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.668ms + 2.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788547064.78744936 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793062 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793062 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788547065.40552187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.78sINFOmove_groupClearing octomap...[0m ×2 + 3.78sINFOmove_groupOctomap cleared.[0m ×2 + 4.19sWARNros2_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 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.085ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778781 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778781 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788547066.24561572 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788547066.81904507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226848 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226848 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788547067.46917892 seconds ×3 + 6.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794988 ms (missed cycles : 4). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794988 ms (missed cycles : 4).[0m ×2 + 7.58sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849437 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849437 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.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 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.01sINFOobjective_server_nodecaller: ×10 + 1.01sINFOobjective_server_nodetype: 0 ×10 + 1.01sINFOobjective_server_nodename: "" ×10 + 1.01sINFOobjective_server_nodeinstance_id: "" ×10 + 1.01sINFOobjective_server_node ×10 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.04sINFOmove_groupClearing octomap...[0m ×2 + 1.04sINFOmove_groupOctomap cleared.[0m ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.66sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 2.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.24sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 29 warnings · 71 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 ×4 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669676 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669676 ms (missed cycles : 3).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997182 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997182 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788546750.91095304 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473666 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473666 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788546751.49871802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608473 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608473 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOjoint_trajectory_controllerReceived new action goal + 4.90sINFOjoint_trajectory_controllerAccepted new action goal + 4.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNros2_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 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604738 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604738 ms (missed cycles : 2).[0m ×2 + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 29 warnings · 71 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 ×4 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848520 ms (missed cycles : 2).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669676 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669676 ms (missed cycles : 3).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997182 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997182 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788546750.91095304 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473666 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473666 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788546751.49871802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608473 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608473 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOjoint_trajectory_controllerReceived new action goal + 4.90sINFOjoint_trajectory_controllerAccepted new action goal + 4.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNros2_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 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604738 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604738 ms (missed cycles : 2).[0m ×2 + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 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 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 4.47sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_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 - 1.496ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311584 ms (missed cycles : 4).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139038 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139038 ms (missed cycles : 3).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978867 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978867 ms (missed cycles : 2).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788546757.00884748 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788546757.58163166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 3.42sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.45sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 3.808ms + 4.02sWARNros2_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 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214548 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214548 ms (missed cycles : 5).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397816 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397816 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.79sINFOjoint_trajectory_controllerReceived new action goal + 5.79sINFOjoint_trajectory_controllerAccepted new action goal + 5.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.79sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 46 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546814.31176257 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sWARNlocal_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 + 3.66sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546814.89959955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.098ms + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3).[0m ×2 + 5.39sWARNros2_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 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 46 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546814.31176257 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sWARNlocal_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 + 3.66sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546814.89959955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.098ms + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3).[0m ×2 + 5.39sWARNros2_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 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 46 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546814.31176257 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sWARNlocal_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 + 3.66sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546814.89959955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.098ms + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3).[0m ×2 + 5.39sWARNros2_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 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 46 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546814.31176257 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sWARNlocal_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 + 3.66sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546814.89959955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.098ms + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3).[0m ×2 + 5.39sWARNros2_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 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 46 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817724 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057402 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005477 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546814.31176257 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.66sWARNlocal_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 + 3.66sWARNlocal_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546814.89959955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.098ms + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542021 ms (missed cycles : 3).[0m ×2 + 5.39sWARNros2_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 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781345 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 42 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.387ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.698ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546853.43320823 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNros2_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 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788546854.01455188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.628ms + 4.39sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.01sINFOjoint_trajectory_controllerAccepted new action goal + 6.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 42 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.387ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.698ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546853.43320823 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNros2_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 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788546854.01455188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.628ms + 4.39sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.01sINFOjoint_trajectory_controllerAccepted new action goal + 6.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 42 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.387ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409516 ms (missed cycles : 4).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.698ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860389 ms (missed cycles : 6).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120410 ms (missed cycles : 5).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546853.43320823 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNros2_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 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788546854.01455188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833877 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.628ms + 4.39sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780100 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894530 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.01sINFOjoint_trajectory_controllerAccepted new action goal + 6.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 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 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 4.47sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546991.05584908 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546991.64703608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4).[0m ×2 + 4.53sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 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 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 4.47sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546991.05584908 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546991.64703608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4).[0m ×2 + 4.53sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546991.05584908 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546991.64703608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4).[0m ×2 + 4.53sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546991.05584908 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546991.64703608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4).[0m ×2 + 4.53sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546991.05584908 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546991.64703608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4).[0m ×2 + 4.53sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546991.05584908 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546991.64703608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4).[0m ×2 + 4.53sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852750 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233184 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056474 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546991.05584908 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419243 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546991.64703608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185654 ms (missed cycles : 4).[0m ×2 + 4.53sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694881 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 23 warnings · 118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794258 ms (missed cycles : 2).[0m ×2 + 0.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 18.327ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810878 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810878 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.229ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671581 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671581 ms (missed cycles : 2).[0m ×2 + 2.45sWARNros2_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 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.668ms + 2.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788547064.78744936 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793062 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793062 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788547065.40552187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.78sINFOmove_groupClearing octomap...[0m ×2 + 3.78sINFOmove_groupOctomap cleared.[0m ×2 + 4.19sWARNros2_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 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.085ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778781 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778781 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788547066.24561572 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788547066.81904507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226848 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226848 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788547067.46917892 seconds ×3 + 6.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794988 ms (missed cycles : 4). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.33sINFOobjective_server_nodecaller: ×10 + 2.33sINFOobjective_server_nodetype: 0 ×10 + 2.33sINFOobjective_server_nodename: "" ×10 + 2.33sINFOobjective_server_nodeinstance_id: "" ×10 + 2.33sINFOobjective_server_node ×10 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.37sINFOmove_groupClearing octomap...[0m ×2 + 2.37sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 3.99sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_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 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 4.57sWARNros2_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 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 27 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 4.47sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 29 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548726 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548726 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_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 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 2.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.08sINFOros2_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 5.885152 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.60sINFOobjective_server_nodecaller: ×10 + 3.60sINFOobjective_server_nodetype: 0 ×10 + 3.60sINFOobjective_server_nodename: "" ×10 + 3.60sINFOobjective_server_nodeinstance_id: "" ×10 + 3.60sINFOobjective_server_node ×10 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 5.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 5.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 7.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 29 warnings · 300 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548726 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548726 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_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 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 2.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.08sINFOros2_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 5.885152 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.60sINFOobjective_server_nodecaller: ×10 + 3.60sINFOobjective_server_nodetype: 0 ×10 + 3.60sINFOobjective_server_nodename: "" ×10 + 3.60sINFOobjective_server_nodeinstance_id: "" ×10 + 3.60sINFOobjective_server_node ×10 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 5.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 5.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 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 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 4.47sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 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 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 4.47sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 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 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 4.47sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629333 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.33sINFOobjective_server_nodecaller: ×10 + 2.33sINFOobjective_server_nodetype: 0 ×10 + 2.33sINFOobjective_server_nodename: "" ×10 + 2.33sINFOobjective_server_nodeinstance_id: "" ×10 + 2.33sINFOobjective_server_node ×10 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.37sINFOmove_groupClearing octomap...[0m ×2 + 2.37sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 3.99sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_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 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 4.57sWARNros2_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 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452991 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885152 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546705.53947234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546705.54972410 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546706.12672567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546706.13685417 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050832 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546706.72093081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546706.87162185 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546707.46538758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222536 ms (missed cycles : 3).[0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546707.52558255 seconds ×3 + 3.52sWARNros2_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 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546708.11038423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297886 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551874 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826539 ms (missed cycles : 3).[0m ×2 | ||||