MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.6s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.3s	12 errors · 318 warnings · 1527 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/2026-09-04-19-00-17-265346-7436f1a1573b-7582 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.22sINFOstatic_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' + 4.22sINFOstatic_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' + 4.23sINFOstatic_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' + 4.23sINFOstatic_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' + 4.27sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.28sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.29sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.37sINFOmap_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. + 4.38sINFOmap_serverCreating + 4.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.44sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.45sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.45sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.50sINFOros2_control_node-12process started with pid [7728] ×2 + 4.50sINFOmove_group-24process started with pid [7747] ×2 + 4.50sINFOparameter_manager_node-25process started with pid [7791] ×2 + 4.50sINFOwaypoint_manager_node-26process started with pid [7792] ×2 + 4.50sINFOmove_joint_resampler_node-27process started with pid [7793] ×2 + 4.50sINFOmove_end_effector_resampler_node-28process started with pid [7794] ×2 + 4.50sINFOobjective_server_node_main-29process started with pid [7795] ×2 + 4.51sINFOcomponent_container_mt-30process started with pid [7796] ×2 + 4.51sINFOcomponent_container_mt-31process started with pid [7797] ×2 + 4.51sINFOexecute_objective_bridge-32process started with pid [7798] ×2 + 4.52sINFOui_teleop_bridge-33process started with pid [7799] ×2 + 4.52sINFOweb_bridge-34process started with pid [7800] ×2 + 4.52sINFOtf2_web_republisher_node-35process started with pid [7801] ×2 + 4.52sINFOvideo_server-36process started with pid [7802] ×2 + 4.52sINFOweb_bridge_auth_proxy-37process started with pid [7803] ×2 + 4.52sINFOweb_video_auth_proxy-38process started with pid [7804] ×2 + 4.52sINFOcomponent_container_isolated-1process started with pid [7632] ×2 + 4.52sINFOcomponent_container_isolated-2process started with pid [7633] ×2 + 4.52sINFOstatic_transform_publisher-3process started with pid [7634] ×2 + 4.52sINFOstatic_transform_publisher-4process started with pid [7635] ×2 + 4.52sINFOodom_qos_relay.py-5process started with pid [7636] ×2 + 4.52sINFOforward_stereo_publisher.py-6process started with pid [7637] ×2 + 4.52sINFOlidar_flattener.py-7process started with pid [7638] ×2 + 4.52sINFOstatic_transform_publisher-8process started with pid [7639] ×2 + 4.52sINFOstatic_transform_publisher-9process started with pid [7640] ×2 + 4.52sINFOscan_to_scan_filter_chain-10process started with pid [7722] ×2 + 4.52sINFOscan_to_scan_filter_chain-11process started with pid [7727] ×2 + 4.52sINFOros2-13process started with pid [7730] ×2 + 4.52sINFOros2-14process started with pid [7731] ×2 + 4.52sINFOros2-15process started with pid [7732] ×2 + 4.52sINFOros2-16process started with pid [7733] ×2 + 4.52sINFOros2-17process started with pid [7734] ×2 + 4.52sINFOros2-18process started with pid [7735] ×2 + 4.53sINFOros2-19process started with pid [7736] ×2 + 4.53sINFOros2-20process started with pid [7737] ×2 + 4.53sINFOros2-21process started with pid [7738] ×2 + 4.53sINFOros2-22process started with pid [7743] ×2 + 4.53sINFOros2-23process started with pid [7744] ×2 + 4.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.54sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.55sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.55sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.56sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.59sINFOlifecycle_manager_localizationCreating + 4.59sINFOcontroller_managerupdate rate is 600 Hz + 4.60sINFOcontroller_managerOverruns handling is : enabled + 4.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.60sWARNcontroller_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. + 4.61sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.61sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.61sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.61sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.61sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.61sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.61sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.61sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.61sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.62sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.62sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.62sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.62sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.62sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.62sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.62sWARNros2_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 + 4.63sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.65sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.65sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.65sINFOmap_serverConfiguring + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499365 ms (missed cycles : 6). + 4.67sINFOcontroller_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. + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499365 ms (missed cycles : 6).[0m ×2 + 4.69sINFOvideo_server2026/09/04 19:00:23 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.69sINFOvideo_server2026/09/04 19:00:23 INF configuration loaded from /tmp/moveit-webrtc-l9k2o35k/mediamtx.yml ×2 + 4.69sINFOvideo_server2026/09/04 19:00:23 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.69sINFOvideo_server2026/09/04 19:00:23 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.72sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.72sINFOcontroller_serverCreating controller server + 4.73sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.74sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.75sINFOlocal_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. + 4.75sINFOlocal_costmap.local_costmapCreating Costmap + 4.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.76sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.76sINFOamclConfiguring + 4.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.76sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.76sINFOmap_serverActivating + 4.77sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 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 + 4.82sINFOrobot_state_publisherRobot initialized + 4.82sINFOcontroller_managerReceived robot description from topic. + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.83sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.83sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.83sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.83sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.85sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.85sINFOplanner_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. + 4.88sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.88sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.88sINFOamclActivating + 4.88sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.88sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.89sINFOamclSubscribed to map_topic: /map + 4.89sINFOamclSubscribed to scan_topic: /scan_merged + 4.89sINFOplanner_serverCreating + 4.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.90sINFOamclCreated reinitialize_global_localization service + 4.90sINFOamclCreated request_nomotion_update service + 4.90sINFOamclA new map was received + 4.90sINFOamclInitializing particle filter instance + 4.93sINFOglobal_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. + 4.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.94sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.94sINFOglobal_costmap.global_costmapCreating Costmap + 4.95sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.95sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.97sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.97sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.98sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.01sINFObehavior_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. + 5.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 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 + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.26sINFOwaypoint_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. + 5.27sINFOwaypoint_followerCreating + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.36sINFOvelocity_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. + 5.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.38sINFOlifecycle_manager_navigationCreating + 5.39sWARNlaser_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. + 5.39sWARNscan_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 + 5.39sWARNlaser_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. + 5.40sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.42sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.42sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.42sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.336702 seconds + 5.42sINFOcontroller_serverConfiguring controller interface + 5.42sINFOcontroller_servergetting progress checker plugins.. + 5.42sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.42sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.42sINFOcontroller_servergetting goal checker plugins.. + 5.42sINFOcontroller_serverController frequency set to 20.0000Hz + 5.42sINFOlocal_costmap.local_costmapConfiguring + 5.43sINFOmove_groupLoaded robot model in 0.336702 seconds[0m ×2 + 5.43sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.43sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.43sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.44sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.44sINFOlocal_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" + 5.49sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.50sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.50sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.50sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.51sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.51sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.53sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.53sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.54sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.54sINFOcontroller_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 + 5.56sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.56sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.56sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.56sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.56sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.56sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.56sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.57sINFOcontroller_serverOptimizer reset ×2 + 5.58sINFOcontroller_serverController Server has FollowPath controllers available. + 5.64sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.64sINFOsmoother_serverConfiguring smoother server + 5.64sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.64sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.65sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.65sINFOplanner_serverConfiguring + 5.65sINFOglobal_costmap.global_costmapConfiguring + 5.66sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.66sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.66sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.66sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.68sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.73sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.73sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.73sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.78sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.79sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.79sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.79sINFOplanner_serverPlanner Server has GridBased planners available. + 5.82sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.82sINFObehavior_serverConfiguring + 5.84sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.85sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.85sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.85sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 5.86sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.86sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.87sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.88sINFObehavior_serverConfiguring spin + 5.90sINFObehavior_serverConfiguring backup + 5.90sINFObehavior_serverConfiguring drive_on_heading + 5.92sINFObehavior_serverConfiguring assisted_teleop + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277027 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277027 ms (missed cycles : 2).[0m ×2 + 5.94sINFObehavior_serverConfiguring wait + 5.95sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.95sINFObt_navigatorConfiguring + 5.96sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.97sWARNbt_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 + 6.04sINFOamclParticle filter initialization completed + 6.04sINFOamclInitializing particles from estimated pose and covariance + 6.05sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.06sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.06sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.06sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.14sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.15sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.18sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.18sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.18sWARNmove_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. + 6.18sWARNmove_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. + 6.18sWARNmove_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. + 6.18sWARNmove_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. + 6.18sWARNmove_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 + 6.18sWARNmove_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. + 6.18sWARNmove_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. + 6.18sWARNmove_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 + 6.18sWARNmove_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 + 6.18sWARNmove_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. + 6.18sWARNmove_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 + 6.18sWARNmove_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. + 6.19sWARNmove_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 + 6.19sWARNmove_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. + 6.19sWARNmove_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 + 6.19sWARNmove_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. + 6.19sWARNmove_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 + 6.19sWARNmove_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 + 6.19sWARNmove_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 + 6.19sWARNmove_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 + 6.23sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.23sINFOwaypoint_followerConfiguring + 6.26sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.26sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.26sINFOvelocity_smootherConfiguring velocity smoother + 6.27sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.27sINFOcontroller_serverActivating + 6.27sINFOlocal_costmap.local_costmapActivating + 6.27sINFOlocal_costmap.local_costmapChecking transform + 6.27sINFOlocal_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. ×13 + 6.47sINFOmove_group[2026-09-04 19:00:25.331] [moveit_pro_license] [info] ×2 + 6.47sINFOmove_group************************************************* ×4 + 6.47sINFOmove_group* MoveIt Pro License ×2 + 6.47sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.52sINFOwaypoint_manager_nodeLoaded robot model in 0.303374 seconds[0m ×2 + 6.52sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.52sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.54sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.54sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.54sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.54sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.57sINFOros2_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 + 6.58sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.90sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.90sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.90sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.90sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.90sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.90sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.90sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.90sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.91sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.91sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.91sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.91sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.91sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.91sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.92sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.92sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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 + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.99sWARNwaypoint_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. + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177608 ms (missed cycles : 4). + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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 + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177608 ms (missed cycles : 4).[0m ×2 + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_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 + 6.99sWARNwaypoint_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. + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sINFOwaypoint_manager_node[2026-09-04 19:00:26.020] [moveit_pro_license] [info] ×2 + 7.16sINFOwaypoint_manager_node************************************************* ×4 + 7.16sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.16sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.42sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.42sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.42sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.42sWARNros2_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 + 7.42sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.42sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.42sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.42sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.43sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.43sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.43sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.43sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.43sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.43sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.43sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.43sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.43sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.43sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.43sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.43sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.43sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.43sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.43sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.43sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.43sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.43sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.45sINFOobjective_server_node[2026-09-04 19:00:26.317] [moveit_pro_license] [info] ×2 + 7.45sINFOobjective_server_node************************************************* ×4 + 7.45sINFOobjective_server_node* MoveIt Pro License ×2 + 7.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.47sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.47sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.53sINFOobjective_server_nodeLoaded robot model in 0.0270691 seconds[0m ×2 + 7.53sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.53sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.61sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.61sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.61sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.61sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.62sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 7.62sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 7.70sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.70sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.71sINFOplatform_velocity_controller_nav2configure successful + 7.71sINFOros2_control_nodeconfigure successful[0m ×6 + 7.73sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.73sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.73sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 7.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 7.84sWARNobjective_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. + 7.84sWARNobjective_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 + 7.84sWARNobjective_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. + 7.84sWARNobjective_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 + 7.84sWARNobjective_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. + 7.84sWARNobjective_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. + 7.84sWARNobjective_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 + 7.84sWARNobjective_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. + 7.84sWARNobjective_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 + 7.84sWARNobjective_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. + 7.85sWARNobjective_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 + 7.85sWARNobjective_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 + 7.85sWARNobjective_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. + 7.85sWARNobjective_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 + 7.85sWARNobjective_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. + 7.85sWARNobjective_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 + 7.85sWARNobjective_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. + 7.85sWARNobjective_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 + 7.85sWARNobjective_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. + 7.85sWARNobjective_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 + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.87sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.87sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.90sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.90sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.90sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.90sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.90sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.91sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.91sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.91sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.91sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.91sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.92sINFOobjective_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 + 7.92sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 7.95sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 7.95sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 7.95sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 7.95sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 7.95sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 7.95sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 7.95sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.02sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.02sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.02sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.02sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.04sINFOros2-18process has finished cleanly [pid 7735] ×2 + 8.11sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.11sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.11sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.13sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.13sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 8.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 8.14sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687215 ms (missed cycles : 3). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687215 ms (missed cycles : 3).[0m ×2 + 8.17sWARNcomponent_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 + 8.21sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.21sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.21sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.21sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 8.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.23sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.24sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.52sINFOros2_control_node[2026-09-04 19:00:27.380] [info] Controller state will be published at 20 Hz. ×2 + 8.52sINFOros2_control_node[2026-09-04 19:00:27.381] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.62sINFOcomponent_container_mtLoaded robot model in 0.44542 seconds[0m ×2 + 8.62sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.62sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.62sINFOmove_groupMoveGroup debug mode is ON + 8.62sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.66sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.66sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.66sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.66sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.66sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.67sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.71sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.77sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 8.77sINFOmove_group ×8 + 8.78sINFOmove_group****************************************************** ×4 + 8.78sINFOmove_group* MoveGroup using: ×2 + 8.78sINFOmove_group* - apply_planning_scene_service ×2 + 8.78sINFOmove_group* - clear_octomap_service ×2 + 8.78sINFOmove_group* - get_group_urdf ×2 + 8.78sINFOmove_group* - load_geometry_from_file ×2 + 8.78sINFOmove_group* - get_planning_scene_service ×2 + 8.78sINFOmove_group* - kinematics_service ×2 + 8.78sINFOmove_group* - save_geometry_to_file ×2 + 8.78sINFOmove_group* - GetPlanningGroups ×2 + 8.78sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.78sINFOmove_group[0m ×2 + 8.78sINFOmove_group[92mYou can start planning now![0m ×2 + 8.83sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.83sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.83sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.83sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.88sINFOros2-23process has finished cleanly [pid 7744] ×2 + 8.91sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 8.91sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 8.96sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.96sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.96sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.96sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNplanning_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. + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNcomponent_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 + 9.03sWARNcomponent_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 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287077 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287077 ms (missed cycles : 2).[0m ×2 + 9.19sINFOcomponent_container_mt[2026-09-04 19:00:28.056] [moveit_pro_license] [info] ×2 + 9.19sINFOcomponent_container_mt************************************************* ×4 + 9.19sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.19sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.29sINFOros2_control_node[2026-09-04 19:00:28.153] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.29sINFOros2_control_node[2026-09-04 19:00:28.155] [info] Controller state will be published at 10 Hz. ×2 + 9.29sINFOros2_control_node[2026-09-04 19:00:28.156] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.53sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.53sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.59sWARNros2_control_nodeCamera render tick took 1.00 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.60sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.60sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.60sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.60sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 9.60sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 9.63sINFOros2-21process has finished cleanly [pid 7738] ×2 + 9.63sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.63sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.64sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.64sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.69sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 9.69sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 9.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 9.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 9.69sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 9.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 9.69sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 9.69sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 9.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 9.69sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 9.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 9.69sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 9.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 9.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 9.70sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 9.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.96sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.96sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.96sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.96sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 9.96sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.96sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 10.02sINFOros2-19process has finished cleanly [pid 7736] ×2 + 10.02sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 10.02sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 10.02sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 10.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 10.16sWARNobjective_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 + 10.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287018 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287018 ms (missed cycles : 2).[0m ×2 + 10.25sWARNros2_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 + 10.34sINFOros2_control_node[2026-09-04 19:00:29.206] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.34sINFOros2_control_node[2026-09-04 19:00:29.207] [info] Controller state will be published at 10 Hz. ×2 + 10.34sINFOros2_control_node[2026-09-04 19:00:29.208] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.66sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788548427.458 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.66sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.66sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.66sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.66sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.66sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 10.66sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 10.68sINFOros2-20process has finished cleanly [pid 7737] ×2 + 10.71sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.71sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.71sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.71sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.71sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.71sINFOcontroller_managerSuccessfully switched controllers! ×20 + 10.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 10.72sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.72sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.03sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.03sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.03sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 11.03sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 11.04sINFOros2-14process has finished cleanly [pid 7731] ×2 + 11.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.09sINFOplatform_velocity_controllerconfigure successful + 11.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.09sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.10sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996631 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996631 ms (missed cycles : 3).[0m ×2 + 11.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 11.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 11.46sINFOros2-16process has finished cleanly [pid 7733] ×2 + 11.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.49sINFOforce_torque_sensor_broadcasterconfigure successful + 11.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.79sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 11.79sINFOcontroller_managerLoading controller 'vacuum_gripper' + 11.79sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 11.79sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 11.79sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 11.79sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 11.82sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 11.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 11.82sINFOros2-13process has finished cleanly [pid 7730] ×2 + 11.84sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 11.84sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 11.85sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 11.85sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 11.85sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 11.85sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 11.85sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 11.85sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 11.86sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 11.86sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 12.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.21sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.22sINFOros2-17process has finished cleanly [pid 7734] ×2 + 12.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 12.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 12.27sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.27sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.27sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.27sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.27sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.27sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.28sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444603 ms (missed cycles : 4). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444603 ms (missed cycles : 4).[0m ×2 + 12.60sINFOros2-15process has finished cleanly [pid 7732] ×2 + 12.61sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.61sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.61sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.61sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm + 12.61sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9ob6xvfo --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_nx072yfy --params-file /tmp/launch_params__mcenyhm [0m ×2 + 12.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.77sINFOlocal_costmap.local_costmapstart + 12.87sWARNcontroller_serverParameter controller_server.verbose not found + 12.87sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.98sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.98sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.98sINFOsmoother_serverActivating + 12.98sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.01sINFOros2_control_node[2026-09-04 19:00:31.875] [info] Controller state will be published at 20 Hz. ×2 + 13.01sINFOros2_control_node[2026-09-04 19:00:31.876] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.08sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.08sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.08sINFOplanner_serverActivating + 13.08sINFOglobal_costmap.global_costmapActivating + 13.08sINFOglobal_costmap.global_costmapChecking transform + 13.08sINFOglobal_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. + 13.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.19sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 4.938ms + 13.34sINFOros2-22process has finished cleanly [pid 7743] ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367837 ms (missed cycles : 2). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367837 ms (missed cycles : 2).[0m ×2 + 13.58sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788548432.420456, but only time 1788548432.467366 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.61sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788548430.856 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 14.09sINFOglobal_costmap.global_costmapstart + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936828 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936828 ms (missed cycles : 3).[0m ×2 + 14.81sWARNros2_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 + 15.14sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.14sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.24sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.24sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.24sINFObehavior_serverActivating + 15.24sINFObehavior_serverActivating spin + 15.24sINFObehavior_serverActivating backup + 15.24sINFObehavior_serverActivating drive_on_heading + 15.24sINFObehavior_serverActivating assisted_teleop + 15.24sINFObehavior_serverActivating wait + 15.24sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.35sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.35sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.35sINFObt_navigatorActivating + 15.38sWARNros2_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 + 15.40sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 15.51sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.51sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.51sINFOwaypoint_followerActivating + 15.51sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.61sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.61sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.61sINFOvelocity_smootherActivating + 15.61sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.72sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.72sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.72sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 17.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 18.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.21sINFOobjective_server_nodecaller: ×10 + 18.21sINFOobjective_server_nodetype: 0 ×10 + 18.21sINFOobjective_server_nodename: "" ×10 + 18.21sINFOobjective_server_nodeinstance_id: "" ×10 + 18.21sINFOobjective_server_node ×10 + 18.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.24sINFOmove_groupClearing octomap...[0m ×2 + 18.24sINFOmove_groupOctomap cleared.[0m ×2 + 18.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 18.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 18.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 19.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 19.82sWARNros2_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 + 20.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.17sINFOobjective_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 + 20.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 20.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 20.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 20.92sWARNros2_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

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.3s	3 errors · 294 warnings · 254 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954931 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954931 ms (missed cycles : 3).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.455ms + 0.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.408ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380081 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380081 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.720ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.373ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155594 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155594 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 2.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 2.97sWARNros2_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 + 2.99sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 8.479ms + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOjoint_trajectory_controllerGot request to cancel goal + 3.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788548647.83985066 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.74) 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 (-1.37, 2.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591563 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591563 ms (missed cycles : 2).[0m ×2 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.58sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 9.578ms + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788548648.42367959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.521ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570293 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570293 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629367 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629367 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693580 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693580 ms (missed cycles : 2).[0m ×2 + 7.51sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400353 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400353 ms (missed cycles : 3).[0m ×2 + 8.13sWARNros2_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 + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.229ms + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546876 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546876 ms (missed cycles : 3).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.632ms + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687857 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687857 ms (missed cycles : 3).[0m ×2 + 9.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.756ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.673ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071330 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071330 ms (missed cycles : 2).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 3419 particles 723 points - 7.675ms + 11.57sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 4.755ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977979 ms (missed cycles : 4). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977979 ms (missed cycles : 4).[0m ×2 + 12.17sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.545ms + 12.72sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 12.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761678 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761678 ms (missed cycles : 2).[0m ×2 + 13.37sWARNros2_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 + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms ×2 + 13.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050098 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050098 ms (missed cycles : 3).[0m ×2 + 14.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960978 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960978 ms (missed cycles : 3).[0m ×2 + 15.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198710 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198710 ms (missed cycles : 2).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.236ms + 16.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146167 ms (missed cycles : 5). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146167 ms (missed cycles : 5).[0m ×2 + 17.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms ×2 + 18.03sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597861 ms (missed cycles : 3). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597861 ms (missed cycles : 3).[0m ×2 + 18.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 18.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693396 ms (missed cycles : 3). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693396 ms (missed cycles : 3).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786409 ms (missed cycles : 6). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786409 ms (missed cycles : 6).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135469 ms (missed cycles : 4). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135469 ms (missed cycles : 4).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006551 ms (missed cycles : 2). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006551 ms (missed cycles : 2).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.200ms + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241782 ms (missed cycles : 3). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241782 ms (missed cycles : 3).[0m ×2 + 24.14sWARNros2_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 + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076079 ms (missed cycles : 2). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076079 ms (missed cycles : 2).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938763 ms (missed cycles : 5). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938763 ms (missed cycles : 5).[0m ×2 + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.959ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051863 ms (missed cycles : 2). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051863 ms (missed cycles : 2).[0m ×2 + 27.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715505 ms (missed cycles : 5). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715505 ms (missed cycles : 5).[0m ×2 + 27.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 28.50sWARNros2_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 + 28.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961108 ms (missed cycles : 3). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961108 ms (missed cycles : 3).[0m ×2 + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 29.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884677 ms (missed cycles : 4). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884677 ms (missed cycles : 4).[0m ×2 + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773913 ms (missed cycles : 4). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773913 ms (missed cycles : 4).[0m ×2 + 31.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.045ms + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315074 ms (missed cycles : 4). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315074 ms (missed cycles : 4).[0m ×2 + 32.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817731 ms (missed cycles : 5). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817731 ms (missed cycles : 5).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866743 ms (missed cycles : 2). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866743 ms (missed cycles : 2).[0m ×2 + 34.67sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.67sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.74sWARNros2_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 ×8 + 34.94sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400156 ms (missed cycles : 3). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400156 ms (missed cycles : 3).[0m ×2 + 36.06sINFOobjective_server_nodePlanning for 15 path waypoints. ×6 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333816 ms (missed cycles : 4). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333816 ms (missed cycles : 4).[0m ×2 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953079 ms (missed cycles : 2). + 37.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953079 ms (missed cycles : 2).[0m ×2 + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211344 ms (missed cycles : 3). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211344 ms (missed cycles : 3).[0m ×2 + 39.15sWARNros2_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 + 39.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779906 ms (missed cycles : 2). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779906 ms (missed cycles : 2).[0m ×2 + 39.83sWARNros2_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 + 39.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.644ms + 40.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.387ms + 40.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761138 ms (missed cycles : 3). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761138 ms (missed cycles : 3).[0m ×2 + 41.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 41.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494401 ms (missed cycles : 2). + 41.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494401 ms (missed cycles : 2).[0m ×2 + 42.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 42.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425672 ms (missed cycles : 3). + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425672 ms (missed cycles : 3).[0m ×2 + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959744 ms (missed cycles : 3). + 44.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959744 ms (missed cycles : 3).[0m ×2 + 44.61sWARNros2_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 + 44.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 45.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330553 ms (missed cycles : 4). + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330553 ms (missed cycles : 4).[0m ×2 + 45.23sWARNros2_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 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350876 ms (missed cycles : 5). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350876 ms (missed cycles : 5).[0m ×2 + 46.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.622ms + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897417 ms (missed cycles : 4). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897417 ms (missed cycles : 4).[0m ×2 + 47.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 48.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010053 ms (missed cycles : 5). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010053 ms (missed cycles : 5).[0m ×2 + 48.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 49.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376530 ms (missed cycles : 5). + 49.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376530 ms (missed cycles : 5).[0m ×2 + 49.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 49.75sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 50.20sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 50.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492069 ms (missed cycles : 3). + 50.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492069 ms (missed cycles : 3).[0m ×2 + 51.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279504 ms (missed cycles : 2). + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279504 ms (missed cycles : 2).[0m ×2 + 52.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258678 ms (missed cycles : 2). + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258678 ms (missed cycles : 2).[0m ×2 + 53.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814557 ms (missed cycles : 3). + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814557 ms (missed cycles : 3).[0m ×2 + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661289 ms (missed cycles : 3). + 54.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661289 ms (missed cycles : 3).[0m ×2 + 55.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 55.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971089 ms (missed cycles : 3). + 55.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971089 ms (missed cycles : 3).[0m ×2 + 56.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 56.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321427 ms (missed cycles : 4). + 56.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321427 ms (missed cycles : 4).[0m ×2 + 57.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371025 ms (missed cycles : 2). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371025 ms (missed cycles : 2).[0m ×2 + 58.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 58.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632743 ms (missed cycles : 3). + 58.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632743 ms (missed cycles : 3).[0m ×2 + 59.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158014 ms (missed cycles : 4). + 59.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158014 ms (missed cycles : 4).[0m ×2 + 60.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461977 ms (missed cycles : 4). + 60.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461977 ms (missed cycles : 4).[0m ×2 + 61.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406515 ms (missed cycles : 4). + 61.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406515 ms (missed cycles : 4).[0m ×2 + 62.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.396437 ms (missed cycles : 5). + 62.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.396437 ms (missed cycles : 5).[0m ×2 + 63.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 64.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375272 ms (missed cycles : 2). + 64.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375272 ms (missed cycles : 2).[0m ×2 + 65.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726549 ms (missed cycles : 2). + 65.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726549 ms (missed cycles : 2).[0m ×2 + 65.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 66.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093332 ms (missed cycles : 3). + 66.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093332 ms (missed cycles : 3).[0m ×2 + 66.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 67.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053713 ms (missed cycles : 5). + 67.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053713 ms (missed cycles : 5).[0m ×2 + 68.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 68.32sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788548713.09384966 seconds ×3 + 68.46sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 68.46sWARNlocal_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. ×3 + 68.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984232 ms (missed cycles : 2). + 68.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984232 ms (missed cycles : 2).[0m ×2 + 68.76sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.76sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.86sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788548713.67435789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.417ms + 69.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456247 ms (missed cycles : 4). + 69.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456247 ms (missed cycles : 4).[0m ×2 + 70.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819604 ms (missed cycles : 2). + 70.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819604 ms (missed cycles : 2).[0m ×2 + 71.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 71.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	243 warnings · 206 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.469ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 1.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747015 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747015 ms (missed cycles : 3).[0m ×2 + 1.65sWARNros2_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 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944130 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944130 ms (missed cycles : 2).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.57sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788548488.78073120 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788548489.35395193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 3.189ms + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438422 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438422 ms (missed cycles : 2).[0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377238 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377238 ms (missed cycles : 2).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758766 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758766 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.83sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.79sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116052 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116052 ms (missed cycles : 2).[0m ×2 + 7.38sWARNros2_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 + 7.94sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 3.738ms + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050688 ms (missed cycles : 4). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050688 ms (missed cycles : 4).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673594 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673594 ms (missed cycles : 2).[0m ×2 + 9.09sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 4.193ms + 9.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.178ms + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158653 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158653 ms (missed cycles : 2).[0m ×2 + 10.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 10.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598915 ms (missed cycles : 3). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598915 ms (missed cycles : 3).[0m ×2 + 11.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 11.91sWARNros2_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 + 11.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814614 ms (missed cycles : 5). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814614 ms (missed cycles : 5).[0m ×2 + 12.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787513 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787513 ms (missed cycles : 2).[0m ×2 + 13.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms ×3 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234309 ms (missed cycles : 3). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234309 ms (missed cycles : 3).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 15.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684646 ms (missed cycles : 3). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684646 ms (missed cycles : 3).[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019035 ms (missed cycles : 3). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019035 ms (missed cycles : 3).[0m ×2 + 17.17sWARNros2_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 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351809 ms (missed cycles : 3). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351809 ms (missed cycles : 3).[0m ×2 + 17.79sWARNros2_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 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076060 ms (missed cycles : 2). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076060 ms (missed cycles : 2).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374205 ms (missed cycles : 3). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374205 ms (missed cycles : 3).[0m ×2 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998239 ms (missed cycles : 5). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998239 ms (missed cycles : 5).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.269ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576249 ms (missed cycles : 2). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576249 ms (missed cycles : 2).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 22.58sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041637 ms (missed cycles : 2). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041637 ms (missed cycles : 2).[0m ×2 + 23.20sWARNros2_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 ×8 + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779272 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779272 ms (missed cycles : 3).[0m ×2 + 24.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886592 ms (missed cycles : 3). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886592 ms (missed cycles : 3).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045089 ms (missed cycles : 2). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045089 ms (missed cycles : 2).[0m ×2 + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494128 ms (missed cycles : 4). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494128 ms (missed cycles : 4).[0m ×2 + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 27.99sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019822 ms (missed cycles : 3). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019822 ms (missed cycles : 3).[0m ×2 + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.732ms + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322772 ms (missed cycles : 2). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322772 ms (missed cycles : 2).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706009 ms (missed cycles : 3). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706009 ms (missed cycles : 3).[0m ×2 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975788 ms (missed cycles : 2). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975788 ms (missed cycles : 2).[0m ×2 + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 32.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768807 ms (missed cycles : 2). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768807 ms (missed cycles : 2).[0m ×2 + 32.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337735 ms (missed cycles : 4). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337735 ms (missed cycles : 4).[0m ×2 + 34.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 34.25sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539055 ms (missed cycles : 3). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539055 ms (missed cycles : 3).[0m ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280583 ms (missed cycles : 2). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280583 ms (missed cycles : 2).[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093827 ms (missed cycles : 2). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093827 ms (missed cycles : 2).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988143 ms (missed cycles : 3). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988143 ms (missed cycles : 3).[0m ×2 + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083116 ms (missed cycles : 4). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083116 ms (missed cycles : 4).[0m ×2 + 39.57sWARNros2_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 + 40.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988227 ms (missed cycles : 3). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988227 ms (missed cycles : 3).[0m ×2 + 41.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.413ms + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039013 ms (missed cycles : 2). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039013 ms (missed cycles : 2).[0m ×2 + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270342 ms (missed cycles : 3). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270342 ms (missed cycles : 3).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999933 ms (missed cycles : 2). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999933 ms (missed cycles : 2).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801957 ms (missed cycles : 2). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801957 ms (missed cycles : 2).[0m ×2 + 45.08sWARNros2_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 + 45.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441327 ms (missed cycles : 3). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441327 ms (missed cycles : 3).[0m ×2 + 46.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397642 ms (missed cycles : 5). + 46.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397642 ms (missed cycles : 5).[0m ×2 + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197950 ms (missed cycles : 2). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197950 ms (missed cycles : 2).[0m ×2 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851893 ms (missed cycles : 5). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851893 ms (missed cycles : 5).[0m ×2 + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723214 ms (missed cycles : 5). + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723214 ms (missed cycles : 5).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357538 ms (missed cycles : 3). + 51.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357538 ms (missed cycles : 3).[0m ×2 + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952084 ms (missed cycles : 5). + 52.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952084 ms (missed cycles : 5).[0m ×2 + 52.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754762 ms (missed cycles : 2). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754762 ms (missed cycles : 2).[0m ×2 + 54.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939133 ms (missed cycles : 2). + 54.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939133 ms (missed cycles : 2).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.086ms + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906322 ms (missed cycles : 3). + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906322 ms (missed cycles : 3).[0m ×2 + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930971 ms (missed cycles : 3). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930971 ms (missed cycles : 3).[0m ×2 + 57.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3).[0m ×2 + 58.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2). + 58.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2).[0m ×2 + 59.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2). + 59.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2).[0m ×2 + 59.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 59.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788548546.03407907 seconds ×3 + 59.96sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.96sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.40sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788548546.61267233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4).[0m ×2 + 60.82sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 60.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.403ms + 61.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2). + 61.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2).[0m ×2 + 62.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2). + 62.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.2s	247 warnings · 200 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788548719.53448629 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788548720.10900497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_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 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055019 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055019 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469033 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469033 ms (missed cycles : 3).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.850ms + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643797 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643797 ms (missed cycles : 2).[0m ×2 + 9.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.249ms + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.365ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348567 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348567 ms (missed cycles : 4).[0m ×2 + 10.69sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 10.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.623ms + 11.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 11.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.537ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244001 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244001 ms (missed cycles : 2).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.654ms + 12.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.195ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772471 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772471 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.145ms + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624303 ms (missed cycles : 3). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624303 ms (missed cycles : 3).[0m ×2 + 13.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.356ms + 14.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061067 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061067 ms (missed cycles : 2).[0m ×2 + 14.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.419ms + 15.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.624ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773685 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773685 ms (missed cycles : 2).[0m ×2 + 16.04sINFOamclParticle filter update iteration stats: 4973 particles 723 points - 8.880ms + 16.61sINFOamclParticle filter update iteration stats: 4135 particles 723 points - 8.694ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629137 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629137 ms (missed cycles : 3).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 3471 particles 723 points - 10.198ms + 17.77sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 6.079ms + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979770 ms (missed cycles : 3). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979770 ms (missed cycles : 3).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 4.243ms + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135751 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135751 ms (missed cycles : 2).[0m ×2 + 18.98sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 3.765ms + 19.59sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.632ms + 19.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734831 ms (missed cycles : 4). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734831 ms (missed cycles : 4).[0m ×2 + 20.21sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.726ms + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412031 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412031 ms (missed cycles : 2).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 21.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197126 ms (missed cycles : 4). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197126 ms (missed cycles : 4).[0m ×2 + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735062 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735062 ms (missed cycles : 2).[0m ×2 + 23.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 23.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604866 ms (missed cycles : 2). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604866 ms (missed cycles : 2).[0m ×2 + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 25.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824561 ms (missed cycles : 4). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824561 ms (missed cycles : 4).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.469ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270559 ms (missed cycles : 3). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270559 ms (missed cycles : 3).[0m ×2 + 26.89sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 26.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866483 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866483 ms (missed cycles : 2).[0m ×2 + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 28.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510458 ms (missed cycles : 4). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510458 ms (missed cycles : 4).[0m ×2 + 28.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569583 ms (missed cycles : 3). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569583 ms (missed cycles : 3).[0m ×2 + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272642 ms (missed cycles : 2). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272642 ms (missed cycles : 2).[0m ×2 + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225099 ms (missed cycles : 5). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225099 ms (missed cycles : 5).[0m ×2 + 31.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 32.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.918131 ms (missed cycles : 5). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.918131 ms (missed cycles : 5).[0m ×2 + 33.08sWARNros2_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 ×6 + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521489 ms (missed cycles : 3). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521489 ms (missed cycles : 3).[0m ×2 + 34.78sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208343 ms (missed cycles : 2). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208343 ms (missed cycles : 2).[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471241 ms (missed cycles : 4). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471241 ms (missed cycles : 4).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052906 ms (missed cycles : 5). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052906 ms (missed cycles : 5).[0m ×2 + 37.43sWARNros2_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 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142878 ms (missed cycles : 5). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142878 ms (missed cycles : 5).[0m ×2 + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193014 ms (missed cycles : 3). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193014 ms (missed cycles : 3).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843461 ms (missed cycles : 2). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843461 ms (missed cycles : 2).[0m ×2 + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364709 ms (missed cycles : 4). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364709 ms (missed cycles : 4).[0m ×2 + 41.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034867 ms (missed cycles : 2). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034867 ms (missed cycles : 2).[0m ×2 + 43.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004506 ms (missed cycles : 3). + 43.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004506 ms (missed cycles : 3).[0m ×2 + 44.34sWARNros2_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 + 44.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710792 ms (missed cycles : 3). + 44.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710792 ms (missed cycles : 3).[0m ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740268 ms (missed cycles : 2). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740268 ms (missed cycles : 2).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420971 ms (missed cycles : 3). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420971 ms (missed cycles : 3).[0m ×2 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416838 ms (missed cycles : 4). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416838 ms (missed cycles : 4).[0m ×2 + 48.06sWARNros2_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 + 48.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391828 ms (missed cycles : 4). + 48.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391828 ms (missed cycles : 4).[0m ×2 + 49.37sWARNros2_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 + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992076 ms (missed cycles : 3). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992076 ms (missed cycles : 3).[0m ×2 + 50.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023186 ms (missed cycles : 2). + 50.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023186 ms (missed cycles : 2).[0m ×2 + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660305 ms (missed cycles : 3). + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660305 ms (missed cycles : 3).[0m ×2 + 52.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175111 ms (missed cycles : 3). + 52.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175111 ms (missed cycles : 3).[0m ×2 + 53.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990419 ms (missed cycles : 2). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990419 ms (missed cycles : 2).[0m ×2 + 54.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 55.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294228 ms (missed cycles : 3). + 55.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294228 ms (missed cycles : 3).[0m ×2 + 55.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461854 ms (missed cycles : 2). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461854 ms (missed cycles : 2).[0m ×2 + 57.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030682 ms (missed cycles : 3). + 57.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030682 ms (missed cycles : 3).[0m ×2 + 58.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731945 ms (missed cycles : 3). + 58.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731945 ms (missed cycles : 3).[0m ×2 + 58.66sWARNros2_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 + 59.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846688 ms (missed cycles : 2). + 59.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846688 ms (missed cycles : 2).[0m ×2 + 60.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788548776.77925396 seconds ×3 + 60.42sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.42sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 60.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193581 ms (missed cycles : 3). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193581 ms (missed cycles : 3).[0m ×2 + 60.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.91sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788548777.36633968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.338ms + 61.32sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 61.65sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570277 ms (missed cycles : 2). + 61.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570277 ms (missed cycles : 2).[0m ×2 + 62.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167143 ms (missed cycles : 2). + 62.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167143 ms (missed cycles : 2).[0m ×2 + 63.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234357 ms (missed cycles : 3). + 63.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234357 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.1s	239 warnings · 218 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3).[0m ×2 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3).[0m ×2 + 2.23sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 2.86sWARNros2_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 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788548585.05405784 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788548585.63429570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.290ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.49sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.49sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2).[0m ×2 + 7.42sWARNros2_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 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718889 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718889 ms (missed cycles : 3).[0m ×2 + 7.98sWARNros2_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 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072074 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072074 ms (missed cycles : 2).[0m ×2 + 9.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.565ms + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.277ms + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832298 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832298 ms (missed cycles : 3).[0m ×2 + 10.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.323ms + 10.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.999ms + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103684 ms (missed cycles : 4). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103684 ms (missed cycles : 4).[0m ×2 + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.574ms + 12.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.568ms + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182684 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182684 ms (missed cycles : 3).[0m ×2 + 12.60sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 12.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.762ms + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434281 ms (missed cycles : 3). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434281 ms (missed cycles : 3).[0m ×2 + 13.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 13.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.722ms + 13.81sINFOamclParticle filter update iteration stats: 4694 particles 723 points - 7.884ms + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240437 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240437 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 2502 particles 723 points - 5.591ms + 14.95sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 3.609ms + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307700 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307700 ms (missed cycles : 2).[0m ×2 + 15.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196072 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196072 ms (missed cycles : 2).[0m ×2 + 16.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108072 ms (missed cycles : 5). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108072 ms (missed cycles : 5).[0m ×2 + 17.91sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 18.55sWARNros2_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 + 18.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811701 ms (missed cycles : 3). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811701 ms (missed cycles : 3).[0m ×2 + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879099 ms (missed cycles : 2). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879099 ms (missed cycles : 2).[0m ×2 + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731862 ms (missed cycles : 6). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731862 ms (missed cycles : 6).[0m ×2 + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 21.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207032 ms (missed cycles : 2). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207032 ms (missed cycles : 2).[0m ×2 + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514712 ms (missed cycles : 3). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514712 ms (missed cycles : 3).[0m ×2 + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms ×2 + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093639 ms (missed cycles : 3). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093639 ms (missed cycles : 3).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 25.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891484 ms (missed cycles : 2). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891484 ms (missed cycles : 2).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343782 ms (missed cycles : 2). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343782 ms (missed cycles : 2).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940246 ms (missed cycles : 3). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940246 ms (missed cycles : 3).[0m ×2 + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 28.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520356 ms (missed cycles : 3). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520356 ms (missed cycles : 3).[0m ×2 + 28.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 29.48sWARNros2_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 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495497 ms (missed cycles : 4). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495497 ms (missed cycles : 4).[0m ×2 + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.266ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503861 ms (missed cycles : 3). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503861 ms (missed cycles : 3).[0m ×2 + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.629ms + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202877 ms (missed cycles : 2). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202877 ms (missed cycles : 2).[0m ×2 + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720600 ms (missed cycles : 3). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720600 ms (missed cycles : 3).[0m ×2 + 33.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359907 ms (missed cycles : 6). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359907 ms (missed cycles : 6).[0m ×2 + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 34.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535035 ms (missed cycles : 4). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535035 ms (missed cycles : 4).[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928669 ms (missed cycles : 2). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928669 ms (missed cycles : 2).[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199112 ms (missed cycles : 2). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199112 ms (missed cycles : 2).[0m ×2 + 37.90sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605983 ms (missed cycles : 2). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605983 ms (missed cycles : 2).[0m ×2 + 38.88sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 38.94sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246602 ms (missed cycles : 4). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246602 ms (missed cycles : 4).[0m ×2 + 39.63sWARNros2_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 + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034978 ms (missed cycles : 2). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034978 ms (missed cycles : 2).[0m ×2 + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 41.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 41.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106540 ms (missed cycles : 3). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106540 ms (missed cycles : 3).[0m ×2 + 42.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736736 ms (missed cycles : 6). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736736 ms (missed cycles : 6).[0m ×2 + 42.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.706ms + 43.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680998 ms (missed cycles : 2). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680998 ms (missed cycles : 2).[0m ×2 + 44.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615862 ms (missed cycles : 4). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615862 ms (missed cycles : 4).[0m ×2 + 45.22sWARNros2_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 + 45.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789262 ms (missed cycles : 2). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789262 ms (missed cycles : 2).[0m ×2 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620159 ms (missed cycles : 3). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620159 ms (missed cycles : 3).[0m ×2 + 47.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 48.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629044 ms (missed cycles : 5). + 48.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629044 ms (missed cycles : 5).[0m ×2 + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.656ms + 49.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341593 ms (missed cycles : 3). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341593 ms (missed cycles : 3).[0m ×2 + 49.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401090 ms (missed cycles : 3). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401090 ms (missed cycles : 3).[0m ×2 + 50.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 50.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 51.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470489 ms (missed cycles : 3). + 51.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470489 ms (missed cycles : 3).[0m ×2 + 51.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 52.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932828 ms (missed cycles : 4). + 52.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932828 ms (missed cycles : 4).[0m ×2 + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569231 ms (missed cycles : 3). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569231 ms (missed cycles : 3).[0m ×2 + 53.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 54.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503450 ms (missed cycles : 3). + 54.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503450 ms (missed cycles : 3).[0m ×2 + 55.01sWARNros2_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 + 55.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 55.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788548637.18492770 seconds ×3 + 55.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058156 ms (missed cycles : 2). + 55.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058156 ms (missed cycles : 2).[0m ×2 + 55.51sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.51sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.61sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.61sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.90sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.94sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788548637.76587772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.913ms + 56.37sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762253 ms (missed cycles : 5). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762253 ms (missed cycles : 5).[0m ×2 + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138949 ms (missed cycles : 2). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138949 ms (missed cycles : 2).[0m ×2 + 58.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116002 ms (missed cycles : 2). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116002 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	180 warnings · 382 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 0.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.74sINFOobjective_server_nodecaller: ×12 + 0.74sINFOobjective_server_nodetype: 0 ×12 + 0.74sINFOobjective_server_nodename: "" ×12 + 0.74sINFOobjective_server_nodeinstance_id: "" ×12 + 0.74sINFOobjective_server_node ×12 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.77sINFOmove_groupClearing octomap...[0m ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 2.35sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 2.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 3.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×6 + 4.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856856 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856856 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316256 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316256 ms (missed cycles : 2).[0m ×2 + 7.87sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 2.704ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959002 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959002 ms (missed cycles : 2).[0m ×2 + 8.98sWARNros2_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 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048246 ms (missed cycles : 4). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048246 ms (missed cycles : 4).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015862 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015862 ms (missed cycles : 3).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319510 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319510 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425175 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425175 ms (missed cycles : 2).[0m ×2 + 13.33sWARNros2_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 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447779 ms (missed cycles : 3). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447779 ms (missed cycles : 3).[0m ×2 + 14.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×8 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023885 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023885 ms (missed cycles : 2).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250203 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250203 ms (missed cycles : 2).[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449306 ms (missed cycles : 3). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449306 ms (missed cycles : 3).[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816233 ms (missed cycles : 2). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816233 ms (missed cycles : 2).[0m ×2 + 18.84sWARNros2_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 ×6 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055762 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055762 ms (missed cycles : 2).[0m ×2 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152041 ms (missed cycles : 2). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152041 ms (missed cycles : 2).[0m ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061968 ms (missed cycles : 2). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061968 ms (missed cycles : 2).[0m ×2 + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494913 ms (missed cycles : 3). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494913 ms (missed cycles : 3).[0m ×2 + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697042 ms (missed cycles : 3). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697042 ms (missed cycles : 3).[0m ×2 + 24.37sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935768 ms (missed cycles : 3). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935768 ms (missed cycles : 3).[0m ×2 + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732847 ms (missed cycles : 2). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732847 ms (missed cycles : 2).[0m ×2 + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298543 ms (missed cycles : 2). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298543 ms (missed cycles : 2).[0m ×2 + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242716 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242716 ms (missed cycles : 2).[0m ×2 + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799695 ms (missed cycles : 2). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799695 ms (missed cycles : 2).[0m ×2 + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667017 ms (missed cycles : 2). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667017 ms (missed cycles : 2).[0m ×2 + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384771 ms (missed cycles : 2). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384771 ms (missed cycles : 2).[0m ×2 + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319635 ms (missed cycles : 2). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319635 ms (missed cycles : 2).[0m ×2 + 33.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413425 ms (missed cycles : 3). + 33.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413425 ms (missed cycles : 3).[0m ×2 + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688787 ms (missed cycles : 2). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688787 ms (missed cycles : 2).[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.950686 ms (missed cycles : 4). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.950686 ms (missed cycles : 4).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811764 ms (missed cycles : 2). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811764 ms (missed cycles : 2).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622541 ms (missed cycles : 3). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622541 ms (missed cycles : 3).[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558096 ms (missed cycles : 4). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558096 ms (missed cycles : 4).[0m ×2 + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499895 ms (missed cycles : 3). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499895 ms (missed cycles : 3).[0m ×2 + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930678 ms (missed cycles : 2). + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930678 ms (missed cycles : 2).[0m ×2 + 40.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250409 ms (missed cycles : 3). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250409 ms (missed cycles : 3).[0m ×2 + 41.99sWARNros2_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 + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892564 ms (missed cycles : 2). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892564 ms (missed cycles : 2).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725236 ms (missed cycles : 3). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725236 ms (missed cycles : 3).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839035 ms (missed cycles : 3). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839035 ms (missed cycles : 3).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451042 ms (missed cycles : 4). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451042 ms (missed cycles : 4).[0m ×2 + 46.30sINFOjoint_trajectory_controllerGoal reached, success! + 46.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788548482.65030050 seconds ×3 + 46.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944871 ms (missed cycles : 3). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944871 ms (missed cycles : 3).[0m ×2 + 46.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.86sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788548483.22060323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590681 ms (missed cycles : 2). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590681 ms (missed cycles : 2).[0m ×2 + 47.99sINFOobjective_server_nodeFound path in 0 iterations (2.5431e-05 s). ×2 + 48.06sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790224 ms (missed cycles : 2). + 48.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790224 ms (missed cycles : 2).[0m ×2 + 49.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.469ms + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.6s	152 warnings · 183 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905564 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905564 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632993 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632993 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_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 + 1.43sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.48sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788548552.40280175 seconds ×3 + 1.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851583 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851583 ms (missed cycles : 5).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_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 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788548553.98388433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383753 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383753 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969077 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969077 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648000 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648000 ms (missed cycles : 2).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.25sWARNros2_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 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078093 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078093 ms (missed cycles : 4).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571742 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571742 ms (missed cycles : 3).[0m ×2 + 7.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.997ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308204 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308204 ms (missed cycles : 2).[0m ×2 + 9.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.748ms + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368739 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368739 ms (missed cycles : 2).[0m ×2 + 9.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.392ms + 10.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.224ms + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137692 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137692 ms (missed cycles : 2).[0m ×2 + 10.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.985ms + 11.36sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.509ms + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310546 ms (missed cycles : 4). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310546 ms (missed cycles : 4).[0m ×2 + 11.97sWARNros2_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 ×4 + 11.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.994ms + 12.57sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 6.891ms + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444155 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444155 ms (missed cycles : 3).[0m ×2 + 13.17sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 4.929ms + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063766 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063766 ms (missed cycles : 2).[0m ×2 + 14.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705621 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705621 ms (missed cycles : 3).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 15.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997136 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997136 ms (missed cycles : 2).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 16.65sWARNros2_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 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383606 ms (missed cycles : 3). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383606 ms (missed cycles : 3).[0m ×2 + 17.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863407 ms (missed cycles : 2). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863407 ms (missed cycles : 2).[0m ×2 + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.943ms + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718347 ms (missed cycles : 5). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718347 ms (missed cycles : 5).[0m ×2 + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915911 ms (missed cycles : 3). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915911 ms (missed cycles : 3).[0m ×2 + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946595 ms (missed cycles : 3). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946595 ms (missed cycles : 3).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496089 ms (missed cycles : 3). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496089 ms (missed cycles : 3).[0m ×2 + 22.19sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725150 ms (missed cycles : 2). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725150 ms (missed cycles : 2).[0m ×2 + 23.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058878 ms (missed cycles : 5). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058878 ms (missed cycles : 5).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 25.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228159 ms (missed cycles : 4). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228159 ms (missed cycles : 4).[0m ×2 + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599127 ms (missed cycles : 3). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599127 ms (missed cycles : 3).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 27.64sWARNros2_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 + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721486 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721486 ms (missed cycles : 2).[0m ×2 + 28.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798538 ms (missed cycles : 2). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798538 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.683ms + 29.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.561ms + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066355 ms (missed cycles : 5). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066355 ms (missed cycles : 5).[0m ×2 + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms ×2 + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3).[0m ×2 + 31.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3).[0m ×2 + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3).[0m ×2 + 33.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2).[0m ×2 + 34.13sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788548585.05405784 seconds ×3 + 34.21sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.21sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.41sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.41sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788548585.63429570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.290ms + 35.14sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4).[0m ×2 + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4).[0m ×2 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.0s	93 warnings · 240 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030682 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030682 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731945 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731945 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846688 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846688 ms (missed cycles : 2).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788548776.77925396 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.35sWARNros2_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 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193581 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193581 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.73sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.73sINFOobjective_server_nodecaller: ×6 + 3.73sINFOobjective_server_nodetype: 0 ×6 + 3.73sINFOobjective_server_nodename: "" ×6 + 3.73sINFOobjective_server_nodeinstance_id: "" ×6 + 3.73sINFOobjective_server_node ×6 + 3.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788548777.36633968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.338ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570277 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570277 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167143 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167143 ms (missed cycles : 2).[0m ×2 + 6.70sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234357 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234357 ms (missed cycles : 3).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910267 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910267 ms (missed cycles : 2).[0m ×2 + 8.42sWARNros2_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 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832264 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832264 ms (missed cycles : 2).[0m ×2 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.24sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 10.34sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 10.48sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.53sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013194 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013194 ms (missed cycles : 2).[0m ×2 + 10.86sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.90sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 11.26sINFOobjective_server_nodeFound path in 33 iterations (0.032472 s). ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645275 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645275 ms (missed cycles : 3).[0m ×2 + 11.76sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 12.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.50sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999144 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999144 ms (missed cycles : 2).[0m ×2 + 12.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 13.21sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369466 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369466 ms (missed cycles : 3).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840670 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840670 ms (missed cycles : 2).[0m ×2 + 15.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.274ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253681 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253681 ms (missed cycles : 2).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.539ms + 16.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.202ms + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458064 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458064 ms (missed cycles : 3).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.566ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498783 ms (missed cycles : 3). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498783 ms (missed cycles : 3).[0m ×2 + 18.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.425ms + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727374 ms (missed cycles : 2). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727374 ms (missed cycles : 2).[0m ×2 + 19.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788548792.80101848 seconds ×3 + 19.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.141ms + 19.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788548793.40939832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.82sINFOmove_groupClearing octomap...[0m ×2 + 19.82sINFOmove_groupOctomap cleared.[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086117 ms (missed cycles : 2). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086117 ms (missed cycles : 2).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 20.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788548794.38949418 seconds ×3 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102715 ms (missed cycles : 4). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102715 ms (missed cycles : 4).[0m ×2 + 21.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788548794.95745778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788548795.51757598 seconds ×3 + 22.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 22.17sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298401 ms (missed cycles : 4).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.6s	102 errors · 41 warnings · 516 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498783 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498783 ms (missed cycles : 3).[0m ×2 + 0.50sWARNros2_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 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.425ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727374 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727374 ms (missed cycles : 2).[0m ×2 + 1.09sINFOjoint_trajectory_controllerGoal reached, success! + 1.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788548792.80101848 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.66sINFOobjective_server_nodecaller: ×4 + 1.66sINFOobjective_server_nodetype: 0 ×4 + 1.66sINFOobjective_server_nodename: "" ×4 + 1.66sINFOobjective_server_nodeinstance_id: "" ×4 + 1.66sINFOobjective_server_node ×4 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.141ms + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788548793.40939832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.72sINFOmove_groupClearing octomap...[0m ×2 + 1.72sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086117 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086117 ms (missed cycles : 2).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 2.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788548794.38949418 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102715 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102715 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788548794.95745778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788548795.51757598 seconds ×3 + 3.95sWARNros2_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 + 4.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298401 ms (missed cycles : 4). + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662503 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298401 ms (missed cycles : 4).[0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662503 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061436 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061436 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650704 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650704 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714414 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714414 ms (missed cycles : 3).[0m ×2 + 9.30sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615358 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615358 ms (missed cycles : 2).[0m ×2 + 10.28sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.30sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORweb_video_auth_proxy-38process has died [pid 7804, 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 + 10.30sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.31sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORweb_bridge_auth_proxy-37process has died [pid 7803, 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 + 10.32sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.33sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.34sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.35sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.36sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.37sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.38sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.39sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.40sINFOvideo_server-36process has finished cleanly [pid 7802] ×2 + 10.40sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.41sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.43sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.44sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.45sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194127 ms (missed cycles : 2). + 10.46sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.47sINFOcontroller_managerShutdown request received.... + 10.47sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.47sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.47sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.47sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.47sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.47sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.47sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.47sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.47sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.47sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.47sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.47sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.47sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.47sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.47sINFOcontroller_managerShutting down the controller manager. + 10.48sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.48sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.49sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.50sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.50sERRORmove_group-24process has died [pid 7747, 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_hlvyh14t --params-file /tmp/launch_params_5716eqb_ --params-file /tmp/launch_params_5kjndgrp --params-file /tmp/launch_params_5fu08z9c --params-file /tmp/launch_params_gcm7t9cc --params-file /tmp/launch_params_1yqs1kdy']. ×2 + 10.51sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.52sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.53sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.54sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.55sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.56sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.57sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.57sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.57sINFOmap_serverDeactivating + 10.57sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.58sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.58sINFOvideo_server2026/09/04 19:06:42 INF shutting down gracefully ×2 + 10.58sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOmap_serverCleaning up + 10.58sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.58sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOcontroller_serverDeactivating + 10.58sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.58sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.58sINFOlocal_costmap.local_costmapDeactivating + 10.58sINFOvideo_server2026/09/04 19:06:42 INF [WebRTC] closing ×2 + 10.58sINFOvideo_server2026/09/04 19:06:42 INF [RTSP] closing ×2 + 10.58sINFOvideo_server2026/09/04 19:06:42 INF waiting for running hooks ×2 + 10.58sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.58sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.59sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.59sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.59sERRORmove_groupStack trace (most recent call last) in thread 8420: ×2 + 10.59sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.59sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a1b468a63, in __clone ×2 + 10.59sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a1b3dbaa3, in ×2 + 10.59sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a1b66ddb3, in ×2 + 10.59sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f5a1bdd2a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.59sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5a1b9ff620, in rclcpp::Rate::sleep() ×2 + 10.59sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5a1b941d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.59sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5a1b903087, in ×2 + 10.59sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a1b63c390, in __cxa_throw ×2 + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194127 ms (missed cycles : 2).[0m ×2 + 10.59sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a1b626a54, in std::terminate() ×2 + 10.59sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a1b63c0d9, in ×2 + 10.59sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a1b626ff4, in ×2 + 10.59sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a1b3678fe, in abort ×2 + 10.59sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a1b38427d, in raise ×2 + 10.59sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a1b3ddb2c, in pthread_kill ×2 + 10.59sERRORmove_groupAborted (Signal sent by tkill() 7747 0) ×2 + 10.59sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.59sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.59sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.59sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.59sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.59sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.59sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.59sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.59sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.59sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.59sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.59sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.59sINFOodom_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 + 10.59sINFOodom_qos_relay.pymain() ×2 + 10.59sINFOodom_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 + 10.59sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.59sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.59sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.59sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.59sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.59sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.59sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.59sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.59sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.60sERRORamclThe bond connection to the lifecycle manager has been broken + 10.65sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.66sINFOcontroller_serverCleaning up + 10.66sINFOlocal_costmap.local_costmapCleaning up + 10.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.68sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.68sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.69sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.69sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.69sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.69sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.69sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.69sINFOvelocity_smootherDeactivating + 10.69sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.70sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.70sINFOsmoother_serverDeactivating + 10.70sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.71sINFOsmoother_serverCleaning up + 10.73sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.73sINFOplanner_serverDeactivating + 10.73sINFOglobal_costmap.global_costmapDeactivating + 10.81sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.81sINFOwaypoint_followerDeactivating + 10.81sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.92sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.92sINFObt_navigatorDeactivating + 10.92sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.03sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.03sINFObehavior_serverDeactivating + 11.03sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.15sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.15sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.15sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.15sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.15sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.15sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.15sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.15sINFOvelocity_smootherCleaning up + 11.15sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.15sINFOwaypoint_followerCleaning up + 11.18sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.18sINFObt_navigatorCleaning up + 11.26sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.26sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.27sINFOplanner_serverCleaning up + 11.29sINFOglobal_costmap.global_costmapCleaning up + 11.30sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.30sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.33sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.33sINFObehavior_serverCleaning up + 11.34sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.34sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.34sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.34sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.36sINFObt_navigatorCompleted Cleaning up + 11.36sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.40sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7801] ×2 + 11.40sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.42sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.42sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.42sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.42sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.42sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.46sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7794] ×2 + 11.47sINFOui_teleop_bridge-33process has finished cleanly [pid 7799] ×2 + 11.48sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7793] ×2 + 11.48sINFOexecute_objective_bridge-32process has finished cleanly [pid 7798] ×2 + 11.50sINFOcomponent_container_mt-31process has finished cleanly [pid 7797] ×2 + 11.51sINFOparameter_manager_node-25process has finished cleanly [pid 7791] ×2 + 11.53sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7727] ×2 + 11.53sINFOwaypoint_manager_node-26process has finished cleanly [pid 7792] ×2 + 11.54sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7722] ×2 + 11.55sINFOstatic_transform_publisher-9process has finished cleanly [pid 7640] ×2 + 11.56sINFOstatic_transform_publisher-8process has finished cleanly [pid 7639] ×2 + 11.57sINFOobjective_server_node[2026-09-04 19:06:43.254] [moveit_pro_license] [critical] ×2 + 11.57sINFOobjective_server_node************************************************* ×4 + 11.57sINFOobjective_server_node* MoveIt Pro License ×2 + 11.57sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.57sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.57sINFOlidar_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 + 11.57sINFOlidar_flattener.pymain() ×2 + 11.57sINFOlidar_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 + 11.57sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.57sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.57sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.57sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.57sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.57sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.57sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.57sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.57sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.57sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.57sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.57sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.57sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.57sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.60sINFOstatic_transform_publisher-4process has finished cleanly [pid 7635] ×2 + 11.61sINFOstatic_transform_publisher-3process has finished cleanly [pid 7634] ×2 + 11.62sERRORlidar_flattener.py-7process has died [pid 7638, 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_z6q_9__t']. ×2 + 11.64sINFOobjective_server_node_main-29process has finished cleanly [pid 7795] ×2 + 11.64sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.64sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7637] ×2 + 11.64sERRORodom_qos_relay.py-5process has died [pid 7636, 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 + 11.69sERRORcomponent_container_isolated-1process has died [pid 7632, 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_frlhk8zo --params-file /tmp/launch_params_6n2jjzor -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.61sINFOcomponent_container_mt-30process has finished cleanly [pid 7796] ×2 + 12.91sERRORcomponent_container_isolated-2process has died [pid 7633, 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_frlhk8zo --params-file /tmp/launch_params_yuu2fbl6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.11sINFOweb_bridge-34process has finished cleanly [pid 7800] ×2 + 13.11sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 13.20sINFOros2_control_node-12process has finished cleanly [pid 7728] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 97 warnings · 155 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932828 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932828 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569231 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569231 ms (missed cycles : 3).[0m ×2 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503450 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503450 ms (missed cycles : 3).[0m ×2 + 2.82sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788548637.18492770 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 + 3.18sINFOcontroller_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 + 3.18sINFOros2_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 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058156 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058156 ms (missed cycles : 2).[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.42sWARNros2_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 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788548637.76587772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.913ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762253 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762253 ms (missed cycles : 5).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138949 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138949 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116002 ms (missed cycles : 2). + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116002 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126282 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126282 ms (missed cycles : 2).[0m ×2 + 7.88sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.46sWARNros2_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 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876079 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876079 ms (missed cycles : 2).[0m ×2 + 9.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.802ms + 9.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.980ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055452 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055452 ms (missed cycles : 3).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954931 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954931 ms (missed cycles : 3).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.455ms + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.408ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380081 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380081 ms (missed cycles : 3).[0m ×2 + 11.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.720ms + 12.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.373ms + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155594 ms (missed cycles : 4). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155594 ms (missed cycles : 4).[0m ×2 + 13.14sWARNros2_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 + 13.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 13.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 13.75sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 8.479ms + 13.79sINFOobjective_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 + 13.80sINFOjoint_trajectory_controllerGot request to cancel goal + 13.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788548647.83985066 seconds ×3 + 13.92sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.92sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591563 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591563 ms (missed cycles : 2).[0m ×2 + 14.32sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.32sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.33sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 9.578ms + 14.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.37sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788548648.42367959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 14.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.521ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570293 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570293 ms (missed cycles : 3).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629367 ms (missed cycles : 3). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629367 ms (missed cycles : 3).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693580 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693580 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	65 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 2.26sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.26sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788548546.03407907 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788548546.61267233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.27sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.403ms + 3.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792955 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792955 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905564 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905564 ms (missed cycles : 3).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632993 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632993 ms (missed cycles : 2).[0m ×2 + 8.31sWARNros2_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 + 8.67sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788548552.40280175 seconds ×3 + 8.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851583 ms (missed cycles : 5). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851583 ms (missed cycles : 5).[0m ×2 + 10.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.22sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.25sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788548553.98388433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383753 ms (missed cycles : 5). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383753 ms (missed cycles : 5).[0m ×2 + 10.64sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969077 ms (missed cycles : 4). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969077 ms (missed cycles : 4).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648000 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648000 ms (missed cycles : 2).[0m ×2 + 12.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	69 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726549 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726549 ms (missed cycles : 2).[0m ×2 + 0.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093332 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093332 ms (missed cycles : 3).[0m ×2 + 1.47sWARNros2_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 ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 2.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053713 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053713 ms (missed cycles : 5).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 2.95sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.95sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788548713.09384966 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNlocal_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. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984232 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984232 ms (missed cycles : 2).[0m ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788548713.67435789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.417ms + 4.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456247 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456247 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819604 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819604 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2 + 6.81sWARNros2_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 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4).[0m ×2 + 7.43sWARNros2_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 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2).[0m ×2 + 9.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788548719.53448629 seconds ×3 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2).[0m ×2 + 9.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.99sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788548720.10900497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.46sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2).[0m ×2 + 11.93sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3).[0m ×2 + 12.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	44 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725236 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725236 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839035 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839035 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451042 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451042 ms (missed cycles : 4).[0m ×2 + 2.21sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.57sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788548482.65030050 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_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 3.944871 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944871 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788548483.22060323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590681 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590681 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.5431e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790224 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790224 ms (missed cycles : 2).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.469ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 7.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747015 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747015 ms (missed cycles : 3).[0m ×2 + 7.77sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 8.36sWARNros2_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 + 8.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944130 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944130 ms (missed cycles : 2).[0m ×2 + 8.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788548488.78073120 seconds ×3 + 9.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.26sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788548489.35395193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.50sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 3.189ms + 9.68sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438422 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438422 ms (missed cycles : 2).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377238 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377238 ms (missed cycles : 2).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758766 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758766 ms (missed cycles : 3).[0m ×2 + 11.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.6s	35 warnings · 120 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253681 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253681 ms (missed cycles : 2).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.539ms + 0.85sWARNros2_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 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.202ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458064 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458064 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.566ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498783 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498783 ms (missed cycles : 3).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.425ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727374 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727374 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788548792.80101848 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 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.141ms + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788548793.40939832 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 + 3.79sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086117 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086117 ms (missed cycles : 2).[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788548794.38949418 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102715 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102715 ms (missed cycles : 4).[0m ×2 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788548794.95745778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788548795.51757598 seconds ×3 + 6.01sWARNros2_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 + 6.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298401 ms (missed cycles : 4). + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662503 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298401 ms (missed cycles : 4).[0m ×2 + 7.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662503 ms (missed cycles : 2).[0m ×2 + 7.64sWARNros2_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 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061436 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061436 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 0.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.74sINFOobjective_server_nodecaller: ×10 + 0.74sINFOobjective_server_nodetype: 0 ×10 + 0.74sINFOobjective_server_nodename: "" ×10 + 0.74sINFOobjective_server_nodeinstance_id: "" ×10 + 0.74sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.77sINFOmove_groupClearing octomap...[0m ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 2.35sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 3.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856856 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856856 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	25 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725236 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725236 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839035 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839035 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451042 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451042 ms (missed cycles : 4).[0m ×2 + 2.21sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788548482.65030050 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_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 3.944871 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944871 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788548483.22060323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590681 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590681 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.5431e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOjoint_trajectory_controllerReceived new action goal + 4.35sINFOjoint_trajectory_controllerAccepted new action goal + 4.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790224 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790224 ms (missed cycles : 2).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.469ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	25 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725236 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725236 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839035 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839035 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451042 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451042 ms (missed cycles : 4).[0m ×2 + 2.21sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788548482.65030050 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_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 3.944871 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944871 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788548483.22060323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590681 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590681 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.5431e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOjoint_trajectory_controllerReceived new action goal + 4.35sINFOjoint_trajectory_controllerAccepted new action goal + 4.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790224 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790224 ms (missed cycles : 2).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.469ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	27 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.24sWARNros2_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 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 2.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 4.68sWARNros2_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 ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2
− 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 - 2.469ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557405 ms (missed cycles : 3).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 1.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747015 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747015 ms (missed cycles : 3).[0m ×2 + 1.65sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944130 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944130 ms (missed cycles : 2).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788548488.78073120 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788548489.35395193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 3.189ms + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438422 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438422 ms (missed cycles : 2).[0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377238 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377238 ms (missed cycles : 2).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758766 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758766 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788548546.03407907 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788548546.61267233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.27sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.403ms + 3.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788548546.03407907 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788548546.61267233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.27sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.403ms + 3.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788548546.03407907 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788548546.61267233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.27sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.403ms + 3.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788548546.03407907 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788548546.61267233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.27sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.403ms + 3.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126431 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559241 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218035 ms (missed cycles : 2).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788548546.03407907 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788548546.61267233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859620 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.27sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.403ms + 3.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906788 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193802 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	41 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3).[0m ×2 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3).[0m ×2 + 2.23sWARNros2_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 + 2.86sWARNros2_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 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788548585.05405784 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788548585.63429570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.290ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	41 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3).[0m ×2 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3).[0m ×2 + 2.23sWARNros2_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 + 2.86sWARNros2_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 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788548585.05405784 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788548585.63429570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.290ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	41 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701180 ms (missed cycles : 3).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694158 ms (missed cycles : 3).[0m ×2 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775463 ms (missed cycles : 3).[0m ×2 + 2.23sWARNros2_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 + 2.86sWARNros2_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 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703823 ms (missed cycles : 2).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788548585.05405784 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788548585.63429570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.290ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929487 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893933 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221612 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	27 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.24sWARNros2_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 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 2.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 4.68sWARNros2_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 ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788548719.53448629 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788548720.10900497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	27 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.24sWARNros2_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 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 2.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 4.68sWARNros2_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 ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788548719.53448629 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788548720.10900497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788548719.53448629 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788548720.10900497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788548719.53448629 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788548720.10900497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788548719.53448629 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788548720.10900497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788548719.53448629 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788548720.10900497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750962 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610470 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587116 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788548719.53448629 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734697 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788548720.10900497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604633 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217769 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945927 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	25 warnings · 118 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253681 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253681 ms (missed cycles : 2).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.539ms + 0.85sWARNros2_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 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.202ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458064 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458064 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.566ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498783 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498783 ms (missed cycles : 3).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.425ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727374 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727374 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788548792.80101848 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 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.141ms + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788548793.40939832 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 + 3.79sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086117 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086117 ms (missed cycles : 2).[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788548794.38949418 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102715 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102715 ms (missed cycles : 4).[0m ×2 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788548794.95745778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788548795.51757598 seconds ×3 + 6.01sWARNros2_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 + 6.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298401 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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2
− 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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 312 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.49sINFOobjective_server_nodecaller: ×10 + 2.49sINFOobjective_server_nodetype: 0 ×10 + 2.49sINFOobjective_server_nodename: "" ×10 + 2.49sINFOobjective_server_nodeinstance_id: "" ×10 + 2.49sINFOobjective_server_node ×10 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 4.10sWARNros2_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 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 6.41sINFOjoint_trajectory_controllerReceived new action goal + 6.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOjoint_trajectory_controllerAccepted new action goal + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	27 warnings · 335 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.24sWARNros2_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 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 2.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 4.68sWARNros2_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 ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 6.99sINFOjoint_trajectory_controllerReceived new action goal + 6.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.99sINFOjoint_trajectory_controllerAccepted new action goal + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	29 warnings · 329 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.32sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.32sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.43sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.43sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.43sINFObehavior_serverActivating + 0.43sINFObehavior_serverActivating spin + 0.43sINFObehavior_serverActivating backup + 0.43sINFObehavior_serverActivating drive_on_heading + 0.43sINFObehavior_serverActivating assisted_teleop + 0.43sINFObehavior_serverActivating wait + 0.43sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.54sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.54sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.54sINFObt_navigatorActivating + 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 + 0.59sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 0.69sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.69sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.70sINFOwaypoint_followerActivating + 0.70sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.80sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.80sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.80sINFOvelocity_smootherActivating + 0.80sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.90sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.90sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.90sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 2.65sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.39sINFOobjective_server_nodecaller: ×10 + 3.39sINFOobjective_server_nodetype: 0 ×10 + 3.39sINFOobjective_server_nodename: "" ×10 + 3.39sINFOobjective_server_nodeinstance_id: "" ×10 + 3.39sINFOobjective_server_node ×10 + 3.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.43sINFOmove_groupClearing octomap...[0m ×2 + 3.43sINFOmove_groupOctomap cleared.[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 4.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 5.00sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.93sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 6.11sWARNros2_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 + 7.03sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	26 warnings · 326 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.32sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.32sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.43sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.43sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.43sINFObehavior_serverActivating + 0.43sINFObehavior_serverActivating spin + 0.43sINFObehavior_serverActivating backup + 0.43sINFObehavior_serverActivating drive_on_heading + 0.43sINFObehavior_serverActivating assisted_teleop + 0.43sINFObehavior_serverActivating wait + 0.43sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.54sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.54sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.54sINFObt_navigatorActivating + 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 + 0.59sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 0.69sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.69sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.70sINFOwaypoint_followerActivating + 0.70sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.80sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.80sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.80sINFOvelocity_smootherActivating + 0.80sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.90sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.90sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.90sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 2.65sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.39sINFOobjective_server_nodecaller: ×10 + 3.39sINFOobjective_server_nodetype: 0 ×10 + 3.39sINFOobjective_server_nodename: "" ×10 + 3.39sINFOobjective_server_nodeinstance_id: "" ×10 + 3.39sINFOobjective_server_node ×10 + 3.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.43sINFOmove_groupClearing octomap...[0m ×2 + 3.43sINFOmove_groupOctomap cleared.[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 4.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 5.00sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.93sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 6.11sWARNros2_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	—	convert_collisionobject_to_graspableobject.xml	0.0s	27 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.24sWARNros2_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 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 2.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 4.68sWARNros2_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 ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2
− skipped	—	createvector.xml	0.0s	27 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.24sWARNros2_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 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 2.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 4.68sWARNros2_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 ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	27 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.24sWARNros2_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 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834694 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 2.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 4.68sWARNros2_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 ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2
− skipped	—	teleoperate.xml	0.0s	22 warnings · 312 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.49sINFOobjective_server_nodecaller: ×10 + 2.49sINFOobjective_server_nodetype: 0 ×10 + 2.49sINFOobjective_server_nodename: "" ×10 + 2.49sINFOobjective_server_nodeinstance_id: "" ×10 + 2.49sINFOobjective_server_node ×10 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 4.10sWARNros2_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 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 6.41sINFOjoint_trajectory_controllerReceived new action goal + 6.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOjoint_trajectory_controllerAccepted new action goal + 6.41sINFOros2_control_nodeAccepted new action goal[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2

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

14 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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	28 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856856 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856856 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2

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

3 skip

− 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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2
− 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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[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 2.251125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251125 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154746 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.75sINFOobjective_server_nodecaller: ×10 + 1.75sINFOobjective_server_nodetype: 0 ×10 + 1.75sINFOobjective_server_nodename: "" ×10 + 1.75sINFOobjective_server_nodeinstance_id: "" ×10 + 1.75sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788548437.10097933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788548437.11152530 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873290 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788548437.68535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788548437.69547033 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788548438.26996922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788548438.42083311 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624540 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788548439.02304673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788548439.07317376 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788548439.64431429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2). + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653387 ms (missed cycles : 2).[0m ×2 + 4.46sWARNros2_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 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068273 ms (missed cycles : 3).[0m ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771861 ms (missed cycles : 2).[0m ×2