MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.6s	12 errors · 321 warnings · 1526 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/2026-09-04-19-22-15-659132-693018b1f5a4-7575 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.23sINFOstatic_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' + 4.24sINFOstatic_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' + 4.24sINFOstatic_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' + 4.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.25sINFOstatic_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' + 4.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.29sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.30sINFOcontroller_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. + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.32sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.33sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.34sINFOcontroller_serverCreating controller server + 4.35sINFOlocal_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. + 4.35sINFOlocal_costmap.local_costmapCreating Costmap + 4.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.36sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.36sINFOsmoother_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. + 4.36sINFOmap_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. + 4.36sINFOmap_serverCreating + 4.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.37sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.37sINFOsmoother_serverCreating smoother server + 4.37sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.37sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.43sINFOplanner_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. + 4.46sINFOplanner_serverCreating + 4.48sINFOglobal_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. + 4.49sINFOglobal_costmap.global_costmapCreating Costmap + 4.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.51sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.52sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.55sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.56sINFOlifecycle_manager_localizationCreating + 4.56sINFOros2_control_node-12process started with pid [7723] ×2 + 4.56sINFOmove_group-24process started with pid [7761] ×2 + 4.56sINFOparameter_manager_node-25process started with pid [7787] ×2 + 4.56sINFOwaypoint_manager_node-26process started with pid [7792] ×2 + 4.56sINFOmove_joint_resampler_node-27process started with pid [7793] ×2 + 4.56sINFOmove_end_effector_resampler_node-28process started with pid [7794] ×2 + 4.56sINFOobjective_server_node_main-29process started with pid [7795] ×2 + 4.56sINFOcomponent_container_mt-30process started with pid [7796] ×2 + 4.56sINFOcomponent_container_mt-31process started with pid [7797] ×2 + 4.56sINFOexecute_objective_bridge-32process started with pid [7798] ×2 + 4.56sINFOui_teleop_bridge-33process started with pid [7799] ×2 + 4.56sINFOweb_bridge-34process started with pid [7800] ×2 + 4.56sINFOtf2_web_republisher_node-35process started with pid [7809] ×2 + 4.56sINFOvideo_server-36process started with pid [7810] ×2 + 4.56sINFOweb_bridge_auth_proxy-37process started with pid [7811] ×2 + 4.56sINFOweb_video_auth_proxy-38process started with pid [7812] ×2 + 4.57sINFOcomponent_container_isolated-1process started with pid [7625] ×2 + 4.57sINFOcomponent_container_isolated-2process started with pid [7626] ×2 + 4.57sINFOstatic_transform_publisher-3process started with pid [7627] ×2 + 4.57sINFOstatic_transform_publisher-4process started with pid [7628] ×2 + 4.57sINFOodom_qos_relay.py-5process started with pid [7629] ×2 + 4.57sINFOforward_stereo_publisher.py-6process started with pid [7630] ×2 + 4.57sINFOlidar_flattener.py-7process started with pid [7631] ×2 + 4.57sINFOstatic_transform_publisher-8process started with pid [7632] ×2 + 4.57sINFOstatic_transform_publisher-9process started with pid [7633] ×2 + 4.57sINFOscan_to_scan_filter_chain-10process started with pid [7721] ×2 + 4.57sINFOscan_to_scan_filter_chain-11process started with pid [7722] ×2 + 4.57sINFOros2-13process started with pid [7724] ×2 + 4.57sINFOros2-14process started with pid [7725] ×2 + 4.57sINFOros2-15process started with pid [7727] ×2 + 4.58sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.59sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.59sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.59sINFOmap_serverConfiguring + 4.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.61sINFOros2-16process started with pid [7728] ×2 + 4.61sINFOros2-17process started with pid [7729] ×2 + 4.61sINFOros2-18process started with pid [7730] ×2 + 4.61sINFOros2-19process started with pid [7731] ×2 + 4.61sINFOros2-20process started with pid [7732] ×2 + 4.61sINFOros2-21process started with pid [7734] ×2 + 4.61sINFOros2-22process started with pid [7754] ×2 + 4.61sINFOros2-23process started with pid [7760] ×2 + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.64sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.64sINFOamclConfiguring + 4.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.65sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.65sINFOmap_serverActivating + 4.65sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.66sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.66sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.66sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.66sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.66sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.66sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.66sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.66sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.66sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.66sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.66sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.66sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.68sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.68sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.72sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.74sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.75sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.75sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.76sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.76sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.76sINFOamclActivating + 4.76sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.76sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.76sINFOcontroller_managerupdate rate is 600 Hz + 4.76sINFOcontroller_managerOverruns handling is : enabled + 4.76sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.76sWARNcontroller_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. + 4.76sINFObt_navigatorCreating + 4.77sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.77sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.77sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.77sWARNros2_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 + 4.78sINFOamclSubscribed to map_topic: /map + 4.78sINFOamclSubscribed to scan_topic: /scan_merged + 4.78sINFOamclCreated reinitialize_global_localization service + 4.78sINFOamclCreated request_nomotion_update service + 4.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.79sINFOamclA new map was received + 4.79sINFOamclInitializing particle filter instance + 4.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.83sINFOwaypoint_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. + 4.83sINFOwaypoint_followerCreating + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.89sINFOvelocity_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. + 4.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488928 ms (missed cycles : 4). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488928 ms (missed cycles : 4).[0m ×2 + 4.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.93sINFOlifecycle_manager_navigationCreating + 4.95sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 4.98sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 4.98sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 4.99sINFOcontroller_serverConfiguring controller interface + 4.99sINFOcontroller_servergetting progress checker plugins.. + 4.99sINFOcontroller_servergetting goal checker plugins.. + 4.99sINFOcontroller_serverController frequency set to 20.0000Hz + 4.99sINFOlocal_costmap.local_costmapConfiguring + 5.00sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.00sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.00sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.03sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.03sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.03sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.04sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.04sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.06sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.06sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.06sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.06sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.10sINFOvideo_server2026/09/04 19:22:22 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.10sINFOvideo_server2026/09/04 19:22:22 INF configuration loaded from /tmp/moveit-webrtc-1tbq2b98/mediamtx.yml ×2 + 5.10sINFOvideo_server2026/09/04 19:22:22 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.10sINFOvideo_server2026/09/04 19:22:22 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.11sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.12sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.12sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.12sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.12sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.14sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.15sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.15sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.16sINFOrobot_state_publisherRobot initialized + 5.16sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.17sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.17sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.17sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.17sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.18sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.19sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.19sINFOcontroller_managerReceived robot description from topic. + 5.19sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.19sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.19sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.20sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.20sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.20sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.20sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.20sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.21sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.21sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.21sINFOcontroller_serverOptimizer reset ×2 + 5.23sINFOcontroller_serverController Server has FollowPath controllers available. + 5.24sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.24sINFOsmoother_serverConfiguring smoother server + 5.27sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.27sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.27sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.27sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.28sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.29sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.29sINFOplanner_serverConfiguring + 5.29sINFOglobal_costmap.global_costmapConfiguring + 5.30sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.31sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.31sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.31sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.32sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.34sINFOamclParticle filter initialization completed + 5.34sINFOamclInitializing particles from estimated pose and covariance + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.34sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.34sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.34sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.34sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.34sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.34sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.36sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.36sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.37sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.41sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.41sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.41sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.42sINFOplanner_serverPlanner Server has GridBased planners available. + 5.46sWARNlaser_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. + 5.46sWARNscan_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 + 5.46sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.46sINFObehavior_serverConfiguring + 5.47sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.48sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.49sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.50sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.51sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.52sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.53sINFObehavior_serverConfiguring spin + 5.56sINFObehavior_serverConfiguring backup + 5.57sINFObehavior_serverConfiguring drive_on_heading + 5.59sINFObehavior_serverConfiguring assisted_teleop + 5.60sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.748876 seconds + 5.60sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.60sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.61sINFOmove_groupLoaded robot model in 0.748876 seconds[0m ×2 + 5.61sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.61sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.61sINFObehavior_serverConfiguring wait + 5.63sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.63sINFObt_navigatorConfiguring + 5.65sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.67sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 5.89sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.89sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 5.94sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.844394 ms (missed cycles : 6). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.844394 ms (missed cycles : 6).[0m ×2 + 6.09sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.09sINFOwaypoint_followerConfiguring + 6.16sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.16sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.16sINFOvelocity_smootherConfiguring velocity smoother + 6.19sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.19sINFOcontroller_serverActivating + 6.19sINFOlocal_costmap.local_costmapActivating + 6.19sINFOlocal_costmap.local_costmapChecking transform + 6.19sINFOlocal_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. ×10 + 6.32sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.32sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.32sWARNmove_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. + 6.32sWARNmove_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. + 6.32sWARNmove_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. + 6.32sWARNmove_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. + 6.32sWARNmove_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 + 6.32sWARNmove_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 + 6.32sWARNmove_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 + 6.32sWARNmove_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 + 6.32sWARNmove_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. + 6.32sWARNmove_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. + 6.32sWARNmove_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 + 6.33sWARNmove_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 + 6.33sWARNmove_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. + 6.33sWARNmove_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 + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.45sINFOwaypoint_manager_nodeLoaded robot model in 0.220343 seconds[0m ×2 + 6.45sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.45sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.67sINFOmove_group[2026-09-04 19:22:24.074] [moveit_pro_license] [info] ×2 + 6.67sINFOmove_group************************************************* ×4 + 6.67sINFOmove_group* MoveIt Pro License ×2 + 6.67sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.95sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.95sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.95sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.95sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [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_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.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.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sINFOros2_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 + 6.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sINFOros2_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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_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. + 6.98sWARNwaypoint_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_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. + 6.98sWARNwaypoint_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_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.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_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.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_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_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.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.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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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_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_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.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.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_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_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 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.05sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.05sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.05sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.05sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.05sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.05sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.05sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.05sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.05sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.05sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.05sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.05sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.05sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.16sINFOwaypoint_manager_node[2026-09-04 19:22:24.563] [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 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180713 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180713 ms (missed cycles : 2).[0m ×2 + 7.59sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.59sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.60sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.71sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.73sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.73sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.73sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.73sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.73sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.73sINFOstreaming_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) + 7.73sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.73sINFOcomponent_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 + 7.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.80sINFOobjective_server_node[2026-09-04 19:22:25.201] [moveit_pro_license] [info] ×2 + 7.80sINFOobjective_server_node************************************************* ×4 + 7.80sINFOobjective_server_node* MoveIt Pro License ×2 + 7.80sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.81sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.81sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.81sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.81sWARNros2_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 + 7.81sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.81sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.81sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.81sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.81sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.81sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.81sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.81sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.81sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.81sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.81sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.81sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.81sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.81sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.81sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.81sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.81sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.81sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.81sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.81sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.81sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.81sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.85sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.89sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.89sINFOobjective_server_nodeLoaded robot model in 0.040735 seconds[0m ×2 + 7.89sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.89sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.89sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.89sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.89sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.89sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.95sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.97sINFOstreaming_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) + 7.97sINFOcomponent_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 + 7.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.03sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 8.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 8.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.04sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.04sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.06sWARNcomponent_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 + 8.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.12sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 8.12sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.12sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 8.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.13sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684816 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684816 ms (missed cycles : 2).[0m ×2 + 8.44sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.44sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.45sINFOcomponent_container_mtLoaded robot model in 0.393507 seconds[0m ×2 + 8.45sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.45sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.54sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.56sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.65sINFOros2_control_node[2026-09-04 19:22:26.051] [info] Controller state will be published at 20 Hz. ×2 + 8.65sINFOros2_control_node[2026-09-04 19:22:26.053] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.68sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.68sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.88sINFOmove_groupMoveGroup debug mode is ON + 8.88sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.88sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.93sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.93sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.93sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.97sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.97sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.97sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.97sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 8.97sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.97sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 9.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.03sINFOros2-22process has finished cleanly [pid 7754] ×2 + 9.04sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.04sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.06sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.06sINFOmove_group ×8 + 9.06sINFOmove_group****************************************************** ×4 + 9.06sINFOmove_group* MoveGroup using: ×2 + 9.06sINFOmove_group* - apply_planning_scene_service ×2 + 9.06sINFOmove_group* - clear_octomap_service ×2 + 9.06sINFOmove_group* - get_group_urdf ×2 + 9.06sINFOmove_group* - load_geometry_from_file ×2 + 9.06sINFOmove_group* - get_planning_scene_service ×2 + 9.06sINFOmove_group* - kinematics_service ×2 + 9.06sINFOmove_group* - save_geometry_to_file ×2 + 9.06sINFOmove_group* - GetPlanningGroups ×2 + 9.06sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.06sINFOmove_group[0m ×2 + 9.06sINFOmove_group[92mYou can start planning now![0m ×2 + 9.18sINFOcomponent_container_mt[2026-09-04 19:22:26.580] [moveit_pro_license] [info] ×2 + 9.18sINFOcomponent_container_mt************************************************* ×4 + 9.18sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.18sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.22sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425865 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425865 ms (missed cycles : 3).[0m ×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 + 9.57sINFOros2_control_node[2026-09-04 19:22:26.974] [info] Controller state will be published at 20 Hz. ×2 + 9.57sINFOros2_control_node[2026-09-04 19:22:26.975] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.73sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 9.73sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 9.74sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 9.74sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 9.77sWARNros2_control_nodeCamera render tick took 0.95 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.80sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.80sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.81sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.81sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 9.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 9.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 9.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 9.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 9.93sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 9.93sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 9.93sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 9.93sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 9.93sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 9.93sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.94sINFOcontroller_managerSuccessfully switched controllers! ×20 + 9.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 9.94sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 9.95sINFOros2-23process has finished cleanly [pid 7760] ×2 + 10.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 10.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 10.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 10.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.29sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 10.29sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851773 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851773 ms (missed cycles : 2).[0m ×2 + 10.33sINFOros2-17process has finished cleanly [pid 7729] ×2 + 10.34sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 10.34sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.34sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 10.34sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 10.35sINFOforce_torque_sensor_broadcasterconfigure successful + 10.35sINFOros2_control_nodeconfigure successful[0m ×6 + 10.35sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 10.35sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 10.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.44sWARNros2_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 + 10.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 10.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 10.70sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.70sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.71sINFOros2-13process has finished cleanly [pid 7724] ×2 + 10.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.72sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.72sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.82sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788549746.226 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.02sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.02sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.02sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.02sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 11.03sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 11.06sINFOros2-15process has finished cleanly [pid 7727] ×2 + 11.07sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.07sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.07sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.07sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.08sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.08sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.19sINFOlocal_costmap.local_costmapstart + 11.30sWARNcontroller_serverParameter controller_server.verbose not found + 11.30sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017223 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017223 ms (missed cycles : 2).[0m ×2 + 11.41sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.41sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.41sINFOsmoother_serverActivating + 11.41sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.43sINFOros2-14process has finished cleanly [pid 7725] ×2 + 11.48sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 11.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 11.51sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.51sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.51sINFOplanner_serverActivating + 11.51sINFOglobal_costmap.global_costmapActivating + 11.51sINFOglobal_costmap.global_costmapChecking transform + 11.51sINFOglobal_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. + 11.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.67sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 6.346ms + 12.01sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788549749.394280, but only time 1788549749.452981 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.11sINFOros2_control_node[2026-09-04 19:22:29.510] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.11sINFOros2_control_node[2026-09-04 19:22:29.513] [info] Controller state will be published at 10 Hz. ×2 + 12.11sINFOros2_control_node[2026-09-04 19:22:29.514] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250111 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250111 ms (missed cycles : 2).[0m ×2 + 12.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 12.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 12.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 12.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 12.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 12.44sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 12.50sINFOros2-20process has finished cleanly [pid 7732] ×2 + 12.51sINFOglobal_costmap.global_costmapstart + 12.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 12.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 12.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.54sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.54sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.54sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.54sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.54sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.86sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.86sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.86sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 12.86sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.86sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 12.87sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 12.87sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 12.90sINFOros2-19process has finished cleanly [pid 7731] ×2 + 12.91sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 12.91sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 12.91sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 12.91sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 12.91sINFOplatform_velocity_controllerconfigure successful + 12.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 12.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 12.92sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 12.92sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.21sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 13.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 13.21sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 13.21sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 13.27sINFOros2-16process has finished cleanly [pid 7728] ×2 + 13.29sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 13.29sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 13.29sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.29sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.29sINFOplatform_velocity_controller_nav2configure successful + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291935 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291935 ms (missed cycles : 2).[0m ×2 + 13.56sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.57sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.66sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.66sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.66sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.66sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.66sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r + 13.66sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0vezmv6j --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_h4p0nano --params-file /tmp/launch_params_xzqy_b0r [0m ×2 + 13.67sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.67sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.67sINFObehavior_serverActivating + 13.67sINFObehavior_serverActivating spin + 13.67sINFObehavior_serverActivating backup + 13.67sINFObehavior_serverActivating drive_on_heading + 13.67sINFObehavior_serverActivating assisted_teleop + 13.67sINFObehavior_serverActivating wait + 13.67sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.67sINFOros2-18process has finished cleanly [pid 7730] ×2 + 13.72sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.72sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.72sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.72sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.78sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.78sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.78sINFObt_navigatorActivating + 13.84sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.95sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.95sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.95sINFOwaypoint_followerActivating + 13.95sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.06sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.06sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.06sINFOvelocity_smootherActivating + 14.06sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.16sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.16sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.16sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.24sINFOros2_control_node[2026-09-04 19:22:31.643] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.24sINFOros2_control_node[2026-09-04 19:22:31.645] [info] Controller state will be published at 10 Hz. ×2 + 14.24sINFOros2_control_node[2026-09-04 19:22:31.646] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293097 ms (missed cycles : 2). + 14.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293097 ms (missed cycles : 2).[0m ×2 + 14.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.59sINFOros2-21process has finished cleanly [pid 7734] ×2 + 15.27sWARNros2_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 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668337 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668337 ms (missed cycles : 2).[0m ×2 + 15.85sWARNros2_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 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 17.87sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 19.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.42sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.42sINFOobjective_server_nodecaller: ×10 + 19.42sINFOobjective_server_nodetype: 0 ×10 + 19.42sINFOobjective_server_nodename: "" ×10 + 19.42sINFOobjective_server_nodeinstance_id: "" ×10 + 19.42sINFOobjective_server_node ×10 + 19.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.46sINFOmove_groupClearing octomap...[0m ×2 + 19.46sINFOmove_groupOctomap cleared.[0m ×2 + 19.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 20.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 20.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 20.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 20.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 20.79sWARNros2_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 + 21.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.36sWARNros2_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 + 21.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.39sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 21.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 21.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 21.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 22.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 22.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 22.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 22.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 22.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 22.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 22.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	66.0s	3 errors · 289 warnings · 256 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.753ms + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673129 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673129 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_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 ×4 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.369ms + 1.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.373ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701552 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701552 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.849ms + 2.25sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 6.700ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781948 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781948 ms (missed cycles : 4).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 4.675ms + 3.20sINFOobjective_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 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.24sERRORobjective_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: 1788549966.99171662 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 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 + 3.26sINFOcontroller_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 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-0.42, 2.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-1.32, 2.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.44sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.801ms + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798969 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798969 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788549967.57538128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.789ms + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409809 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409809 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633783 ms (missed cycles : 3).[0m ×2 + 6.15sWARNros2_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 + 6.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795533 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795533 ms (missed cycles : 2).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744879 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744879 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904054 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904054 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.200ms + 9.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.903ms + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252318 ms (missed cycles : 4). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252318 ms (missed cycles : 4).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.249ms + 10.61sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.65sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 7.264ms + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117516 ms (missed cycles : 4). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117516 ms (missed cycles : 4).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 4.896ms + 11.78sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 3.529ms + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935537 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935537 ms (missed cycles : 3).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.415ms + 12.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228446 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228446 ms (missed cycles : 2).[0m ×2 + 13.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 14.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056967 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056967 ms (missed cycles : 3).[0m ×2 + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191719 ms (missed cycles : 4). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191719 ms (missed cycles : 4).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 15.87sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×10 + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088753 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088753 ms (missed cycles : 2).[0m ×2 + 16.47sWARNros2_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 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 17.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098619 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098619 ms (missed cycles : 2).[0m ×2 + 17.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220370 ms (missed cycles : 3). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220370 ms (missed cycles : 3).[0m ×2 + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.778ms + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854488 ms (missed cycles : 3). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854488 ms (missed cycles : 3).[0m ×2 + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.789114 ms (missed cycles : 5). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.789114 ms (missed cycles : 5).[0m ×2 + 20.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515052 ms (missed cycles : 4). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515052 ms (missed cycles : 4).[0m ×2 + 21.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332906 ms (missed cycles : 3). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332906 ms (missed cycles : 3).[0m ×2 + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 23.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283910 ms (missed cycles : 3). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283910 ms (missed cycles : 3).[0m ×2 + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 24.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.062ms + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494063 ms (missed cycles : 3). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494063 ms (missed cycles : 3).[0m ×2 + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481444 ms (missed cycles : 3). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481444 ms (missed cycles : 3).[0m ×2 + 26.55sWARNros2_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 + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905782 ms (missed cycles : 3). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905782 ms (missed cycles : 3).[0m ×2 + 27.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798803 ms (missed cycles : 2). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798803 ms (missed cycles : 2).[0m ×2 + 28.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms ×2 + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363889 ms (missed cycles : 3). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363889 ms (missed cycles : 3).[0m ×2 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483843 ms (missed cycles : 3). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483843 ms (missed cycles : 3).[0m ×2 + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555673 ms (missed cycles : 2). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555673 ms (missed cycles : 2).[0m ×2 + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 31.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.93sWARNros2_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 + 31.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309013 ms (missed cycles : 5). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309013 ms (missed cycles : 5).[0m ×2 + 32.58sWARNros2_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 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms ×2 + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283008 ms (missed cycles : 4). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283008 ms (missed cycles : 4).[0m ×2 + 34.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605978 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605978 ms (missed cycles : 2).[0m ×2 + 34.74sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.74sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.19sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435044 ms (missed cycles : 2). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435044 ms (missed cycles : 2).[0m ×2 + 36.56sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536851 ms (missed cycles : 4). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536851 ms (missed cycles : 4).[0m ×2 + 37.48sWARNros2_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 + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548684 ms (missed cycles : 5). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548684 ms (missed cycles : 5).[0m ×2 + 38.12sWARNros2_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 + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239158 ms (missed cycles : 3). + 38.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239158 ms (missed cycles : 3).[0m ×2 + 39.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.960ms + 39.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 40.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047010 ms (missed cycles : 2). + 40.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047010 ms (missed cycles : 2).[0m ×2 + 40.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811269 ms (missed cycles : 3). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811269 ms (missed cycles : 3).[0m ×2 + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 41.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 42.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290563 ms (missed cycles : 2). + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290563 ms (missed cycles : 2).[0m ×2 + 42.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982848 ms (missed cycles : 4). + 43.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982848 ms (missed cycles : 4).[0m ×2 + 44.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321773 ms (missed cycles : 4). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321773 ms (missed cycles : 4).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808652 ms (missed cycles : 4). + 45.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808652 ms (missed cycles : 4).[0m ×2 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747821 ms (missed cycles : 2). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747821 ms (missed cycles : 2).[0m ×2 + 47.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157243 ms (missed cycles : 3). + 47.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157243 ms (missed cycles : 3).[0m ×2 + 48.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139259 ms (missed cycles : 3). + 48.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139259 ms (missed cycles : 3).[0m ×2 + 48.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 49.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944149 ms (missed cycles : 3). + 49.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944149 ms (missed cycles : 3).[0m ×2 + 50.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 50.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556549 ms (missed cycles : 5). + 50.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556549 ms (missed cycles : 5).[0m ×2 + 51.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609735 ms (missed cycles : 3). + 51.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609735 ms (missed cycles : 3).[0m ×2 + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411729 ms (missed cycles : 3). + 52.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411729 ms (missed cycles : 3).[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973279 ms (missed cycles : 2). + 53.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973279 ms (missed cycles : 2).[0m ×2 + 54.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 54.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264847 ms (missed cycles : 3). + 54.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264847 ms (missed cycles : 3).[0m ×2 + 55.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017525 ms (missed cycles : 4). + 55.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017525 ms (missed cycles : 4).[0m ×2 + 55.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 56.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 56.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893741 ms (missed cycles : 5). + 56.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893741 ms (missed cycles : 5).[0m ×2 + 57.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585996 ms (missed cycles : 3). + 57.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585996 ms (missed cycles : 3).[0m ×2 + 58.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954480 ms (missed cycles : 2). + 58.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954480 ms (missed cycles : 2).[0m ×2 + 59.12sWARNros2_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 + 59.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 59.72sWARNros2_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 + 59.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121013 ms (missed cycles : 3). + 59.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121013 ms (missed cycles : 3).[0m ×2 + 59.83sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 60.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201962 ms (missed cycles : 3). + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201962 ms (missed cycles : 3).[0m ×2 + 61.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448942 ms (missed cycles : 4). + 61.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448942 ms (missed cycles : 4).[0m ×2 + 62.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818949 ms (missed cycles : 3). + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818949 ms (missed cycles : 3).[0m ×2 + 63.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188440 ms (missed cycles : 3). + 63.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188440 ms (missed cycles : 3).[0m ×2 + 64.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 64.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058291 ms (missed cycles : 4). + 64.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058291 ms (missed cycles : 4).[0m ×2 + 65.13sWARNros2_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 + 66.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655060 ms (missed cycles : 4). + 66.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655060 ms (missed cycles : 4).[0m ×2 + 66.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 67.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182021 ms (missed cycles : 2). + 67.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182021 ms (missed cycles : 2).[0m ×2 + 67.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 68.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382552 ms (missed cycles : 3). + 68.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382552 ms (missed cycles : 3).[0m ×2 + 68.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 69.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963592 ms (missed cycles : 2). + 69.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963592 ms (missed cycles : 2).[0m ×2 + 69.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788550033.03553653 seconds ×3 + 69.34sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.34sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.83sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.83sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 69.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788550033.61754036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.114ms + 70.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092839 ms (missed cycles : 3). + 70.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092839 ms (missed cycles : 3).[0m ×2 + 70.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 71.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561543 ms (missed cycles : 3). + 71.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561543 ms (missed cycles : 3).[0m ×2 + 72.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283583 ms (missed cycles : 3). + 72.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283583 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	238 warnings · 202 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3).[0m ×2 + 1.90sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.24sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550039.45768571 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550040.03255796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.65sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.65sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669334 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669334 ms (missed cycles : 3).[0m ×2 + 7.12sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.67sWARNros2_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 + 8.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.195ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392968 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392968 ms (missed cycles : 3).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.455ms + 9.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.459ms + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048198 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048198 ms (missed cycles : 2).[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.299ms + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.275ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970910 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970910 ms (missed cycles : 2).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.689ms + 11.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.697ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347666 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347666 ms (missed cycles : 3).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 3138 particles 723 points - 10.343ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787505 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787505 ms (missed cycles : 2).[0m ×2 + 12.70sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 12.72sWARNros2_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 ×6 + 12.73sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 4.130ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311348 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311348 ms (missed cycles : 2).[0m ×2 + 13.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 14.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313117 ms (missed cycles : 4). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313117 ms (missed cycles : 4).[0m ×2 + 15.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944154 ms (missed cycles : 3). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944154 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.083ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703300 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703300 ms (missed cycles : 2).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 17.94sWARNros2_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 + 17.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 17.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425584 ms (missed cycles : 3). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425584 ms (missed cycles : 3).[0m ×2 + 18.08sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906887 ms (missed cycles : 2). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906887 ms (missed cycles : 2).[0m ×2 + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840289 ms (missed cycles : 3). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840289 ms (missed cycles : 3).[0m ×2 + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726713 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726713 ms (missed cycles : 2).[0m ×2 + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 22.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336228 ms (missed cycles : 3). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336228 ms (missed cycles : 3).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 23.22sWARNros2_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 + 23.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 23.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421776 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421776 ms (missed cycles : 3).[0m ×2 + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642541 ms (missed cycles : 3). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642541 ms (missed cycles : 3).[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238865 ms (missed cycles : 4). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238865 ms (missed cycles : 4).[0m ×2 + 25.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.177ms + 26.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 26.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935217 ms (missed cycles : 2). + 26.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935217 ms (missed cycles : 2).[0m ×2 + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms ×2 + 27.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119863 ms (missed cycles : 4). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119863 ms (missed cycles : 4).[0m ×2 + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.911ms + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674719 ms (missed cycles : 2). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674719 ms (missed cycles : 2).[0m ×2 + 29.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956366 ms (missed cycles : 4). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956366 ms (missed cycles : 4).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685765 ms (missed cycles : 3). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685765 ms (missed cycles : 3).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508676 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508676 ms (missed cycles : 2).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.000ms + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376948 ms (missed cycles : 3). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376948 ms (missed cycles : 3).[0m ×2 + 34.00sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 34.02sWARNros2_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 + 34.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms ×2 + 34.07sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211514 ms (missed cycles : 5). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211514 ms (missed cycles : 5).[0m ×2 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692849 ms (missed cycles : 2). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692849 ms (missed cycles : 2).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545311 ms (missed cycles : 3). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545311 ms (missed cycles : 3).[0m ×2 + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596113 ms (missed cycles : 4). + 37.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596113 ms (missed cycles : 4).[0m ×2 + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378560 ms (missed cycles : 2). + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378560 ms (missed cycles : 2).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386904 ms (missed cycles : 3). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386904 ms (missed cycles : 3).[0m ×2 + 40.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541107 ms (missed cycles : 4). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541107 ms (missed cycles : 4).[0m ×2 + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680503 ms (missed cycles : 4). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680503 ms (missed cycles : 4).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752938 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752938 ms (missed cycles : 3).[0m ×2 + 44.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363292 ms (missed cycles : 3). + 44.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363292 ms (missed cycles : 3).[0m ×2 + 45.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713278 ms (missed cycles : 4). + 45.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713278 ms (missed cycles : 4).[0m ×2 + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.281512 ms (missed cycles : 4). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.281512 ms (missed cycles : 4).[0m ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956421 ms (missed cycles : 3). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956421 ms (missed cycles : 3).[0m ×2 + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618128 ms (missed cycles : 2). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618128 ms (missed cycles : 2).[0m ×2 + 48.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008320 ms (missed cycles : 5). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008320 ms (missed cycles : 5).[0m ×2 + 50.35sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 50.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 50.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116964 ms (missed cycles : 2). + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116964 ms (missed cycles : 2).[0m ×2 + 51.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.883ms + 51.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060987 ms (missed cycles : 2). + 51.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060987 ms (missed cycles : 2).[0m ×2 + 52.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290593 ms (missed cycles : 2). + 52.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290593 ms (missed cycles : 2).[0m ×2 + 53.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378596 ms (missed cycles : 2). + 53.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378596 ms (missed cycles : 2).[0m ×2 + 55.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629657 ms (missed cycles : 3). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629657 ms (missed cycles : 3).[0m ×2 + 56.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881274 ms (missed cycles : 5). + 56.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881274 ms (missed cycles : 5).[0m ×2 + 57.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172664 ms (missed cycles : 3). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172664 ms (missed cycles : 3).[0m ×2 + 58.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453906 ms (missed cycles : 3). + 58.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453906 ms (missed cycles : 3).[0m ×2 + 59.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490307 ms (missed cycles : 5). + 59.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490307 ms (missed cycles : 5).[0m ×2 + 59.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 59.66sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788550096.87270880 seconds ×3 + 59.79sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.79sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.09sWARNlocal_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 + 60.09sWARNlocal_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 + 60.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788550097.47203445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167845 ms (missed cycles : 4). + 60.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167845 ms (missed cycles : 4).[0m ×2 + 60.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.492ms + 60.62sINFOobjective_server_nodeFound path in 0 iterations (2.5918e-05 s). ×2 + 60.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 61.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507362 ms (missed cycles : 4). + 61.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507362 ms (missed cycles : 4).[0m ×2 + 62.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711683 ms (missed cycles : 5). + 62.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711683 ms (missed cycles : 5).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	252 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998933 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998933 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827957 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827957 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788549808.47222829 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_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 + 3.03sINFOcontroller_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 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192097 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192097 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788549809.04963589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 4.05sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 3.296ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780673 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780673 ms (missed cycles : 3).[0m ×2 + 4.62sWARNros2_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 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799131 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799131 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050982 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050982 ms (missed cycles : 2).[0m ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.111151 ms (missed cycles : 5). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.111151 ms (missed cycles : 5).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426790 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426790 ms (missed cycles : 3).[0m ×2 + 8.65sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 3.296ms + 9.16sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.19sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 3.855ms + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268645 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268645 ms (missed cycles : 2).[0m ×2 + 9.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 9.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491272 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491272 ms (missed cycles : 3).[0m ×2 + 10.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.541ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125700 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125700 ms (missed cycles : 2).[0m ×2 + 11.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014979 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014979 ms (missed cycles : 4).[0m ×2 + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641163 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641163 ms (missed cycles : 2).[0m ×2 + 13.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 14.30sWARNros2_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 + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119062 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119062 ms (missed cycles : 2).[0m ×2 + 14.91sWARNros2_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 ×6 + 14.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206533 ms (missed cycles : 3). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206533 ms (missed cycles : 3).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668526 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668526 ms (missed cycles : 3).[0m ×2 + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565611 ms (missed cycles : 3). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565611 ms (missed cycles : 3).[0m ×2 + 17.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652509 ms (missed cycles : 3). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652509 ms (missed cycles : 3).[0m ×2 + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 19.56sWARNros2_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 ×6 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794239 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794239 ms (missed cycles : 2).[0m ×2 + 20.17sWARNros2_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 ×6 + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370360 ms (missed cycles : 4). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370360 ms (missed cycles : 4).[0m ×2 + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 21.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985966 ms (missed cycles : 3). + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985966 ms (missed cycles : 3).[0m ×2 + 21.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 22.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916107 ms (missed cycles : 2). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916107 ms (missed cycles : 2).[0m ×2 + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021095 ms (missed cycles : 2). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021095 ms (missed cycles : 2).[0m ×2 + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217897 ms (missed cycles : 2). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217897 ms (missed cycles : 2).[0m ×2 + 24.92sWARNros2_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 + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394085 ms (missed cycles : 3). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394085 ms (missed cycles : 3).[0m ×2 + 26.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.999ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866247 ms (missed cycles : 3). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866247 ms (missed cycles : 3).[0m ×2 + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032687 ms (missed cycles : 2). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032687 ms (missed cycles : 2).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957436 ms (missed cycles : 3). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957436 ms (missed cycles : 3).[0m ×2 + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms ×2 + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290344 ms (missed cycles : 3). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290344 ms (missed cycles : 3).[0m ×2 + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 30.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197321 ms (missed cycles : 3). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197321 ms (missed cycles : 3).[0m ×2 + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117248 ms (missed cycles : 2). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117248 ms (missed cycles : 2).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.524ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 33.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992670 ms (missed cycles : 2). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992670 ms (missed cycles : 2).[0m ×2 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095525 ms (missed cycles : 3). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095525 ms (missed cycles : 3).[0m ×2 + 34.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 34.62sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.950467 ms (missed cycles : 4). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.950467 ms (missed cycles : 4).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050870 ms (missed cycles : 5). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050870 ms (missed cycles : 5).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292111 ms (missed cycles : 3). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292111 ms (missed cycles : 3).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674110 ms (missed cycles : 5). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674110 ms (missed cycles : 5).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149244 ms (missed cycles : 2). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149244 ms (missed cycles : 2).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409583 ms (missed cycles : 3). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409583 ms (missed cycles : 3).[0m ×2 + 41.06sWARNros2_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 + 41.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258400 ms (missed cycles : 3). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258400 ms (missed cycles : 3).[0m ×2 + 41.70sWARNros2_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 + 41.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631125 ms (missed cycles : 2). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631125 ms (missed cycles : 2).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524292 ms (missed cycles : 5). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524292 ms (missed cycles : 5).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796621 ms (missed cycles : 2). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796621 ms (missed cycles : 2).[0m ×2 + 45.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759781 ms (missed cycles : 2). + 45.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759781 ms (missed cycles : 2).[0m ×2 + 46.47sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 46.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679268 ms (missed cycles : 3). + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679268 ms (missed cycles : 3).[0m ×2 + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209811 ms (missed cycles : 3). + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209811 ms (missed cycles : 3).[0m ×2 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402219 ms (missed cycles : 4). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402219 ms (missed cycles : 4).[0m ×2 + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212829 ms (missed cycles : 3). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212829 ms (missed cycles : 3).[0m ×2 + 51.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658908 ms (missed cycles : 3). + 51.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658908 ms (missed cycles : 3).[0m ×2 + 52.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207743 ms (missed cycles : 2). + 52.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207743 ms (missed cycles : 2).[0m ×2 + 52.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 53.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264927 ms (missed cycles : 2). + 53.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264927 ms (missed cycles : 2).[0m ×2 + 54.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993290 ms (missed cycles : 2). + 54.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993290 ms (missed cycles : 2).[0m ×2 + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773850 ms (missed cycles : 3). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773850 ms (missed cycles : 3).[0m ×2 + 55.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 56.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951202 ms (missed cycles : 3). + 56.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951202 ms (missed cycles : 3).[0m ×2 + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2).[0m ×2 + 58.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3). + 58.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3).[0m ×2 + 59.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4). + 59.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4).[0m ×2 + 60.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 60.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549865.72977972 seconds ×3 + 60.34sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.34sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4). + 60.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4).[0m ×2 + 60.73sWARNlocal_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 + 60.73sWARNlocal_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 + 60.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.82sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549866.32078266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 61.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 61.55sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2). + 61.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2).[0m ×2 + 62.28sWARNros2_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 + 62.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2). + 62.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2).[0m ×2 + 62.83sWARNros2_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 + 63.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2). + 63.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	51.5s	236 warnings · 220 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.304ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.84sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.87sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549904.85179281 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_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 + 3.11sWARNlocal_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. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549905.43772149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.757ms + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.15sWARNros2_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 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3).[0m ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.07sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.07sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487526 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487526 ms (missed cycles : 3).[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789264 ms (missed cycles : 3). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789264 ms (missed cycles : 3).[0m ×2 + 8.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.913ms + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437144 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437144 ms (missed cycles : 2).[0m ×2 + 9.19sWARNros2_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 + 9.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.526ms + 9.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.932ms + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335109 ms (missed cycles : 3). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335109 ms (missed cycles : 3).[0m ×2 + 10.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.703ms + 10.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.789ms + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463825 ms (missed cycles : 4). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463825 ms (missed cycles : 4).[0m ×2 + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.141ms + 12.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.770ms + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341277 ms (missed cycles : 3). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341277 ms (missed cycles : 3).[0m ×2 + 12.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.730ms + 13.15sINFOamclParticle filter update iteration stats: 4993 particles 723 points - 7.737ms + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481946 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481946 ms (missed cycles : 2).[0m ×2 + 13.66sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 13.70sINFOamclParticle filter update iteration stats: 4342 particles 723 points - 8.480ms + 14.28sWARNros2_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 ×8 + 14.30sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 6.233ms + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378603 ms (missed cycles : 4). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378603 ms (missed cycles : 4).[0m ×2 + 14.88sINFOamclParticle filter update iteration stats: 2794 particles 723 points - 5.217ms + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398340 ms (missed cycles : 3). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398340 ms (missed cycles : 3).[0m ×2 + 15.46sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 4.138ms + 16.04sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.947ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730983 ms (missed cycles : 3). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730983 ms (missed cycles : 3).[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159117 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159117 ms (missed cycles : 2).[0m ×2 + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048571 ms (missed cycles : 3). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048571 ms (missed cycles : 3).[0m ×2 + 19.03sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.278ms + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874817 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874817 ms (missed cycles : 2).[0m ×2 + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 20.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768488 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768488 ms (missed cycles : 2).[0m ×2 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694416 ms (missed cycles : 2). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694416 ms (missed cycles : 2).[0m ×2 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 22.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017702 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017702 ms (missed cycles : 2).[0m ×2 + 23.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 23.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406581 ms (missed cycles : 2). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406581 ms (missed cycles : 2).[0m ×2 + 24.38sWARNros2_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 + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908764 ms (missed cycles : 4). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908764 ms (missed cycles : 4).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071632 ms (missed cycles : 3). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071632 ms (missed cycles : 3).[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021556 ms (missed cycles : 2). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021556 ms (missed cycles : 2).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165133 ms (missed cycles : 2). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165133 ms (missed cycles : 2).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155355 ms (missed cycles : 2). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155355 ms (missed cycles : 2).[0m ×2 + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 30.34sWARNros2_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 + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680980 ms (missed cycles : 2). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680980 ms (missed cycles : 2).[0m ×2 + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042554 ms (missed cycles : 4). + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042554 ms (missed cycles : 4).[0m ×2 + 32.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 32.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238240 ms (missed cycles : 2). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238240 ms (missed cycles : 2).[0m ×2 + 33.29sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 33.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108376 ms (missed cycles : 3). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108376 ms (missed cycles : 3).[0m ×2 + 34.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744963 ms (missed cycles : 2). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744963 ms (missed cycles : 2).[0m ×2 + 35.80sWARNros2_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 + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836609 ms (missed cycles : 2). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836609 ms (missed cycles : 2).[0m ×2 + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025062 ms (missed cycles : 5). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025062 ms (missed cycles : 5).[0m ×2 + 37.29sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.06sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.721340 ms (missed cycles : 5). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.721340 ms (missed cycles : 5).[0m ×2 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072628 ms (missed cycles : 4). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072628 ms (missed cycles : 4).[0m ×2 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261809 ms (missed cycles : 2). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261809 ms (missed cycles : 2).[0m ×2 + 40.69sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 40.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 41.33sWARNros2_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 + 41.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278028 ms (missed cycles : 3). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278028 ms (missed cycles : 3).[0m ×2 + 41.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686448 ms (missed cycles : 2). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686448 ms (missed cycles : 2).[0m ×2 + 42.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 43.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 43.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566456 ms (missed cycles : 5). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566456 ms (missed cycles : 5).[0m ×2 + 44.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 44.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352945 ms (missed cycles : 3). + 44.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352945 ms (missed cycles : 3).[0m ×2 + 45.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395772 ms (missed cycles : 3). + 45.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395772 ms (missed cycles : 3).[0m ×2 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264674 ms (missed cycles : 3). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264674 ms (missed cycles : 3).[0m ×2 + 46.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.904ms + 47.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 47.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322007 ms (missed cycles : 3). + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322007 ms (missed cycles : 3).[0m ×2 + 47.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 48.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 48.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775106 ms (missed cycles : 3). + 48.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775106 ms (missed cycles : 3).[0m ×2 + 49.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 49.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128246 ms (missed cycles : 2). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128246 ms (missed cycles : 2).[0m ×2 + 49.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 50.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743312 ms (missed cycles : 2). + 50.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743312 ms (missed cycles : 2).[0m ×2 + 50.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 51.53sWARNros2_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 + 51.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.790349 ms (missed cycles : 6). + 51.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.790349 ms (missed cycles : 6).[0m ×2 + 52.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762646 ms (missed cycles : 4). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762646 ms (missed cycles : 4).[0m ×2 + 53.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002809 ms (missed cycles : 2). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002809 ms (missed cycles : 2).[0m ×2 + 54.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 54.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788549956.30786133 seconds ×3 + 54.41sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 54.41sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 54.61sWARNlocal_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 + 54.61sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 54.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 54.86sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 54.92sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788549956.90030694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191735 ms (missed cycles : 3). + 55.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191735 ms (missed cycles : 3).[0m ×2 + 55.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.593ms + 55.33sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 56.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136322 ms (missed cycles : 3). + 56.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136322 ms (missed cycles : 3).[0m ×2 + 57.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403554 ms (missed cycles : 3). + 57.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403554 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	184 warnings · 380 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 0.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.86sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.86sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.86sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.86sINFOobjective_server_nodecaller: ×12 + 0.86sINFOobjective_server_nodetype: 0 ×12 + 0.86sINFOobjective_server_nodename: "" ×12 + 0.86sINFOobjective_server_nodeinstance_id: "" ×12 + 0.86sINFOobjective_server_node ×12 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.90sINFOmove_groupClearing octomap...[0m ×2 + 0.90sINFOmove_groupOctomap cleared.[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.23sWARNros2_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 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.80sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843179 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843179 ms (missed cycles : 3).[0m ×2 + 7.26sWARNros2_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 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512741 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512741 ms (missed cycles : 3).[0m ×2 + 7.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 7.83sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.566ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770650 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770650 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629205 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629205 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578084 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578084 ms (missed cycles : 3).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215086 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215086 ms (missed cycles : 2).[0m ×2 + 12.31sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278288 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278288 ms (missed cycles : 4).[0m ×2 + 12.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995787 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995787 ms (missed cycles : 2).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967461 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967461 ms (missed cycles : 2).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352271 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352271 ms (missed cycles : 2).[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611913 ms (missed cycles : 3). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611913 ms (missed cycles : 3).[0m ×2 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679505 ms (missed cycles : 2). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679505 ms (missed cycles : 2).[0m ×2 + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341019 ms (missed cycles : 4). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341019 ms (missed cycles : 4).[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993122 ms (missed cycles : 2). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993122 ms (missed cycles : 2).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323140 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323140 ms (missed cycles : 2).[0m ×2 + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174041 ms (missed cycles : 3). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174041 ms (missed cycles : 3).[0m ×2 + 22.50sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891511 ms (missed cycles : 3). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891511 ms (missed cycles : 3).[0m ×2 + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048726 ms (missed cycles : 2). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048726 ms (missed cycles : 2).[0m ×2 + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207514 ms (missed cycles : 3). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207514 ms (missed cycles : 3).[0m ×2 + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549558 ms (missed cycles : 4). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549558 ms (missed cycles : 4).[0m ×2 + 27.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552714 ms (missed cycles : 3). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552714 ms (missed cycles : 3).[0m ×2 + 27.59sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 28.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 28.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057240 ms (missed cycles : 2). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057240 ms (missed cycles : 2).[0m ×2 + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294413 ms (missed cycles : 4). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294413 ms (missed cycles : 4).[0m ×2 + 30.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017057 ms (missed cycles : 2). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017057 ms (missed cycles : 2).[0m ×2 + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405138 ms (missed cycles : 2). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405138 ms (missed cycles : 2).[0m ×2 + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619829 ms (missed cycles : 2). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619829 ms (missed cycles : 2).[0m ×2 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980053 ms (missed cycles : 4). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980053 ms (missed cycles : 4).[0m ×2 + 33.73sWARNros2_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 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733721 ms (missed cycles : 2). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733721 ms (missed cycles : 2).[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787926 ms (missed cycles : 3). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787926 ms (missed cycles : 3).[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909296 ms (missed cycles : 3). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909296 ms (missed cycles : 3).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535263 ms (missed cycles : 2). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535263 ms (missed cycles : 2).[0m ×2 + 38.21sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 2.056ms + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802602 ms (missed cycles : 3). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802602 ms (missed cycles : 3).[0m ×2 + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275839 ms (missed cycles : 2). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275839 ms (missed cycles : 2).[0m ×2 + 41.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022569 ms (missed cycles : 2). + 41.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022569 ms (missed cycles : 2).[0m ×2 + 42.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478046 ms (missed cycles : 4). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478046 ms (missed cycles : 4).[0m ×2 + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511322 ms (missed cycles : 3). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511322 ms (missed cycles : 3).[0m ×2 + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939972 ms (missed cycles : 4). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939972 ms (missed cycles : 4).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886508 ms (missed cycles : 3). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886508 ms (missed cycles : 3).[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923465 ms (missed cycles : 2). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923465 ms (missed cycles : 2).[0m ×2 + 46.40sINFOjoint_trajectory_controllerGoal reached, success! + 46.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549802.39055347 seconds ×3 + 46.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.97sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549802.97208810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034815 ms (missed cycles : 3). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034815 ms (missed cycles : 3).[0m ×2 + 48.05sINFOobjective_server_nodeFound path in 0 iterations (2.4254e-05 s). ×2 + 48.12sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657383 ms (missed cycles : 2). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657383 ms (missed cycles : 2).[0m ×2 + 49.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2). + 49.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2).[0m ×2 + 50.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	150 warnings · 183 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655711 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655711 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312395 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312395 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.69sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.73sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788549872.08094239 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678461 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678461 ms (missed cycles : 2).[0m ×2 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788549873.65165162 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 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937975 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937975 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669072 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669072 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188575 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188575 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246738 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246738 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688120 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688120 ms (missed cycles : 2).[0m ×2 + 8.30sWARNros2_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 + 8.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.112ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384131 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384131 ms (missed cycles : 2).[0m ×2 + 8.89sWARNros2_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 + 9.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.665ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654011 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654011 ms (missed cycles : 3).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.106ms + 10.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.249ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880804 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880804 ms (missed cycles : 2).[0m ×2 + 11.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.682ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370138 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370138 ms (missed cycles : 3).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.975ms + 12.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.795ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379794 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379794 ms (missed cycles : 3).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.366ms + 13.53sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.490ms + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367691 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367691 ms (missed cycles : 3).[0m ×2 + 14.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 14.14sINFOamclParticle filter update iteration stats: 3471 particles 723 points - 6.617ms + 14.74sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 5.446ms + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014553 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014553 ms (missed cycles : 2).[0m ×2 + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.776ms + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102520 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102520 ms (missed cycles : 2).[0m ×2 + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms ×2 + 17.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769756 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769756 ms (missed cycles : 3).[0m ×2 + 17.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646667 ms (missed cycles : 3). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646667 ms (missed cycles : 3).[0m ×2 + 18.85sWARNros2_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 + 18.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948113 ms (missed cycles : 3). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948113 ms (missed cycles : 3).[0m ×2 + 19.50sWARNros2_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 + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215902 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215902 ms (missed cycles : 2).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364125 ms (missed cycles : 3). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364125 ms (missed cycles : 3).[0m ×2 + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468610 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468610 ms (missed cycles : 2).[0m ×2 + 23.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270952 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270952 ms (missed cycles : 2).[0m ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 24.23sWARNros2_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 + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124651 ms (missed cycles : 2). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124651 ms (missed cycles : 2).[0m ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608157 ms (missed cycles : 3). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608157 ms (missed cycles : 3).[0m ×2 + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140001 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140001 ms (missed cycles : 2).[0m ×2 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572120 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572120 ms (missed cycles : 2).[0m ×2 + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996094 ms (missed cycles : 4). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996094 ms (missed cycles : 4).[0m ×2 + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 29.79sWARNros2_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 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.231ms + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696425 ms (missed cycles : 2). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696425 ms (missed cycles : 2).[0m ×2 + 30.38sWARNros2_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 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290101 ms (missed cycles : 3). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290101 ms (missed cycles : 3).[0m ×2 + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2).[0m ×2 + 32.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 32.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2).[0m ×2 + 33.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.304ms + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5).[0m ×2 + 34.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549904.85179281 seconds ×3 + 34.55sWARNlocal_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 + 34.55sWARNlocal_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 + 34.75sWARNlocal_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. ×5 + 34.75sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.05sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549905.43772149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3).[0m ×2 + 35.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.757ms + 35.47sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 35.78sWARNros2_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 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2).[0m ×2 + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3). + 37.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	95 warnings · 240 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172664 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453906 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453906 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490307 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490307 ms (missed cycles : 5).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 2.44sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.44sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788550096.87270880 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788550097.47203445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167845 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167845 ms (missed cycles : 4).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.492ms + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.5918e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.75sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.89sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507362 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507362 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711683 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711683 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470762 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470762 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539327 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539327 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810451 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810451 ms (missed cycles : 2).[0m ×2 + 9.43sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 9.45sWARNros2_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 + 9.46sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.63sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210225 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210225 ms (missed cycles : 3).[0m ×2 + 9.76sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 10.10sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.49sINFOobjective_server_nodeFound path in 33 iterations (0.0329466 s). ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874202 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874202 ms (missed cycles : 2).[0m ×2 + 11.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 11.80sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.85sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035495 ms (missed cycles : 3). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035495 ms (missed cycles : 3).[0m ×2 + 12.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.74sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402269 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402269 ms (missed cycles : 3).[0m ×2 + 15.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.771ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742962 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742962 ms (missed cycles : 2).[0m ×2 + 16.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.609ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494143 ms (missed cycles : 3). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494143 ms (missed cycles : 3).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.535ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029635 ms (missed cycles : 4). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029635 ms (missed cycles : 4).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863314 ms (missed cycles : 2). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863314 ms (missed cycles : 2).[0m ×2 + 18.73sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550113.15091062 seconds ×3 + 19.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550113.76839447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.35sINFOmove_groupClearing octomap...[0m ×2 + 19.35sINFOmove_groupOctomap cleared.[0m ×2 + 19.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.175ms + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362047 ms (missed cycles : 3). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362047 ms (missed cycles : 3).[0m ×2 + 19.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550114.34853196 seconds ×3 + 20.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 20.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.47sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550114.92443538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511368 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511368 ms (missed cycles : 3).[0m ×2 + 20.87sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550115.51457024 seconds ×3 + 21.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714737 ms (missed cycles : 2). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714737 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.1s	108 errors · 38 warnings · 516 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.535ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029635 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029635 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863314 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863314 ms (missed cycles : 2).[0m ×2 + 1.94sINFOjoint_trajectory_controllerGoal reached, success! + 1.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550113.15091062 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550113.76839447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.57sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.175ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362047 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362047 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550114.34853196 seconds ×3 + 3.28sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.30sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550114.92443538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511368 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511368 ms (missed cycles : 3).[0m ×2 + 4.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550115.51457024 seconds ×3 + 4.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714737 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714737 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224796 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224796 ms (missed cycles : 2).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842616 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842616 ms (missed cycles : 2).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602857 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602857 ms (missed cycles : 2).[0m ×2 + 8.63sWARNros2_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 + 8.65sWARNros2_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 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575157 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575157 ms (missed cycles : 2).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069245 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069245 ms (missed cycles : 2).[0m ×2 + 10.27sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×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_video_auth_proxy-38process has died [pid 7812, 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 + 10.28sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.29sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORweb_bridge_auth_proxy-37process has died [pid 7811, 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 + 10.29sERRORexecute_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 + 10.30sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.32sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.33sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.34sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.34sINFOvideo_server-36process has finished cleanly [pid 7810] ×2 + 10.34sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.35sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.36sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.37sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.38sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×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 + 10.42sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.43sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.44sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.46sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.46sINFOcontroller_managerShutdown request received.... + 10.46sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.46sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.46sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.46sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.47sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.47sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.47sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.47sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 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_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_managerDeactivating controller 'joint_state_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.47sINFOcontroller_managerShutting down the controller manager. + 10.47sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.48sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.49sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.50sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.50sERRORmove_group-24process has died [pid 7761, 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_c6artz7b --params-file /tmp/launch_params_e4oktfzd --params-file /tmp/launch_params_dfe2i2md --params-file /tmp/launch_params_aruuxuv_ --params-file /tmp/launch_params_e2omwwxe --params-file /tmp/launch_params_e1374a9e']. ×2 + 10.51sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.52sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.53sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.54sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.55sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.56sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.56sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.56sINFOmap_serverDeactivating + 10.56sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.57sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.57sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.57sINFOcontroller_serverDeactivating + 10.57sINFOlocal_costmap.local_costmapDeactivating + 10.57sINFOvideo_server2026/09/04 19:28:41 INF shutting down gracefully ×2 + 10.57sINFOvideo_server2026/09/04 19:28:41 INF [WebRTC] closing ×2 + 10.57sINFOvideo_server2026/09/04 19:28:41 INF [RTSP] closing ×2 + 10.57sINFOvideo_server2026/09/04 19:28:41 INF waiting for running hooks ×2 + 10.57sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOmap_serverCleaning up + 10.57sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.57sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.57sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.57sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.57sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.57sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.57sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.57sERRORmove_groupStack trace (most recent call last) in thread 8407: ×2 + 10.57sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.57sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6562136a63, in __clone ×2 + 10.57sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f65620a9aa3, in ×2 + 10.57sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f656233bdb3, in ×2 + 10.57sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f6562aa0a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.57sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f65626cd620, in rclcpp::Rate::sleep() ×2 + 10.57sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f656260fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.57sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f65625d1087, in ×2 + 10.57sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f656230a390, in __cxa_throw ×2 + 10.57sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f65622f4a54, in std::terminate() ×2 + 10.57sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f656230a0d9, in ×2 + 10.57sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f65622f4ff4, in ×2 + 10.57sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f65620358fe, in abort ×2 + 10.57sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f656205227d, in raise ×2 + 10.57sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f65620abb2c, in pthread_kill ×2 + 10.57sERRORmove_groupAborted (Signal sent by tkill() 7761 0) ×2 + 10.57sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.57sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.58sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.58sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.58sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.58sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.58sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.58sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.58sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.58sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.58sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.58sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.58sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.58sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.58sINFOodom_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 + 10.58sINFOodom_qos_relay.pymain() ×2 + 10.58sINFOodom_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 + 10.58sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.58sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.58sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.58sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.58sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.58sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.58sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.58sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.58sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.59sERRORamclThe bond connection to the lifecycle manager has been broken + 10.60sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.61sINFOcontroller_serverCleaning up + 10.61sINFOlocal_costmap.local_costmapCleaning up + 10.66sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.66sINFOsmoother_serverDeactivating + 10.66sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.67sINFOsmoother_serverCleaning 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 + 10.69sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.69sINFOplanner_serverDeactivating + 10.69sINFOglobal_costmap.global_costmapDeactivating + 10.72sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.72sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.73sINFOplanner_serverCleaning up + 10.75sINFOglobal_costmap.global_costmapCleaning up + 10.76sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.76sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.77sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.77sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.77sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.77sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.77sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.77sINFOvelocity_smootherDeactivating + 10.77sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.80sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.80sINFObehavior_serverDeactivating + 10.80sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.81sINFObehavior_serverCleaning up + 10.81sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.81sINFObt_navigatorDeactivating + 10.81sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.82sINFObt_navigatorCleaning up + 10.88sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.88sINFOwaypoint_followerDeactivating + 10.88sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.98sINFObt_navigatorCompleted Cleaning up + 10.98sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.98sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.98sINFOvelocity_smootherCleaning up + 10.98sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.00sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.02sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.02sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.02sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.02sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.02sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.02sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.02sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.02sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.02sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.02sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.02sINFOwaypoint_followerCleaning up + 11.05sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.05sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.05sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.05sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.05sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.05sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.05sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.05sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.05sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.05sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.05sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.35sERRORcomponent_container_isolated-1process has died [pid 7625, 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_qyds3gqs --params-file /tmp/launch_params_pdel_31b -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.38sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7809] ×2 + 11.38sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.47sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7794] ×2 + 11.48sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7793] ×2 + 11.48sINFOui_teleop_bridge-33process has finished cleanly [pid 7799] ×2 + 11.48sINFOexecute_objective_bridge-32process has finished cleanly [pid 7798] ×2 + 11.50sINFOcomponent_container_mt-31process has finished cleanly [pid 7797] ×2 + 11.52sINFOparameter_manager_node-25process has finished cleanly [pid 7787] ×2 + 11.52sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7722] ×2 + 11.53sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7721] ×2 + 11.54sINFOwaypoint_manager_node-26process has finished cleanly [pid 7792] ×2 + 11.54sINFOstatic_transform_publisher-9process has finished cleanly [pid 7633] ×2 + 11.55sINFOstatic_transform_publisher-8process has finished cleanly [pid 7632] ×2 + 11.55sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.55sINFOlidar_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 + 11.55sINFOlidar_flattener.pymain() ×2 + 11.55sINFOlidar_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 + 11.55sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.55sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.55sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.55sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.55sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.55sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.55sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.55sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.55sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.58sINFOstatic_transform_publisher-4process has finished cleanly [pid 7628] ×2 + 11.59sINFOstatic_transform_publisher-3process has finished cleanly [pid 7627] ×2 + 11.60sINFOobjective_server_node[2026-09-04 19:28:42.791] [moveit_pro_license] [critical] ×2 + 11.60sINFOobjective_server_node************************************************* ×4 + 11.60sINFOobjective_server_node* MoveIt Pro License ×2 + 11.60sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.60sERRORlidar_flattener.py-7process has died [pid 7631, 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_dxheceda']. ×2 + 11.64sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7630] ×2 + 11.64sERRORodom_qos_relay.py-5process has died [pid 7629, 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 + 11.66sINFOobjective_server_node_main-29process has finished cleanly [pid 7795] ×2 + 11.66sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.91sERRORcomponent_container_isolated-2process has died [pid 7626, 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_qyds3gqs --params-file /tmp/launch_params_92_6mtae -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.60sINFOcomponent_container_mt-30process has finished cleanly [pid 7796] ×2 + 13.03sINFOweb_bridge-34process has finished cleanly [pid 7800] ×2 + 13.03sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 13.22sINFOros2_control_node-12process has finished cleanly [pid 7723] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 97 warnings · 155 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.790349 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.790349 ms (missed cycles : 6).[0m ×2 + 0.65sWARNros2_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 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762646 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762646 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002809 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002809 ms (missed cycles : 2).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788549956.30786133 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sWARNlocal_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 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788549956.90030694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191735 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191735 ms (missed cycles : 3).[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.593ms + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136322 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136322 ms (missed cycles : 3).[0m ×2 + 5.21sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403554 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403554 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839263 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839263 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206677 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206677 ms (missed cycles : 3).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.065ms + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040889 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040889 ms (missed cycles : 3).[0m ×2 + 9.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.753ms ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773092 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773092 ms (missed cycles : 2).[0m ×2 + 9.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.179ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673129 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673129 ms (missed cycles : 2).[0m ×2 + 10.74sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.369ms + 11.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 11.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.373ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701552 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701552 ms (missed cycles : 3).[0m ×2 + 11.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.849ms + 12.49sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 6.700ms + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781948 ms (missed cycles : 4). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781948 ms (missed cycles : 4).[0m ×2 + 13.07sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 4.675ms + 13.44sINFOobjective_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 + 13.45sINFOjoint_trajectory_controllerGot request to cancel goal + 13.45sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.45sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.45sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.47sERRORobjective_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: 1788549966.99171662 seconds ×3 + 13.58sWARNlocal_costmap.local_costmapSensor origin at (-0.42, 2.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.58sWARNlocal_costmap.local_costmapSensor origin at (-1.32, 2.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.67sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.801ms + 13.68sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.68sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798969 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798969 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788549967.57538128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.789ms + 14.43sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409809 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409809 ms (missed cycles : 3).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633783 ms (missed cycles : 3). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633783 ms (missed cycles : 3).[0m ×2 + 16.39sWARNros2_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 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795533 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795533 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	72 warnings · 142 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549865.72977972 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_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 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4).[0m ×2 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 `Move to Arm Upright` starting at time: 1788549866.32078266 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 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2).[0m ×2 + 5.72sWARNros2_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 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655711 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655711 ms (missed cycles : 2).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312395 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312395 ms (missed cycles : 2).[0m ×2 + 9.51sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788549872.08094239 seconds ×3 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678461 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678461 ms (missed cycles : 2).[0m ×2 + 10.56sWARNros2_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 + 11.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.04sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.08sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788549873.65165162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937975 ms (missed cycles : 2). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937975 ms (missed cycles : 2).[0m ×2 + 11.51sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669072 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669072 ms (missed cycles : 3).[0m ×2 + 12.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188575 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188575 ms (missed cycles : 2).[0m ×2 + 13.80sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246738 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246738 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	59 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655060 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655060 ms (missed cycles : 4).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182021 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182021 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382552 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382552 ms (missed cycles : 3).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963592 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963592 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.25sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788550033.03553653 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.81sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788550033.61754036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.114ms + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092839 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092839 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.32sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.38sWARNros2_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 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561543 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561543 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283583 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283583 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3).[0m ×2 + 9.33sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550039.45768571 seconds ×3 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2).[0m ×2 + 9.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 10.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550040.03255796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3).[0m ×2 + 13.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	48 warnings · 145 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939972 ms (missed cycles : 4). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939972 ms (missed cycles : 4).[0m ×2 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886508 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886508 ms (missed cycles : 3).[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923465 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923465 ms (missed cycles : 2).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549802.39055347 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_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 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549802.97208810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034815 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034815 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.4254e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657383 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657383 ms (missed cycles : 2).[0m ×2 + 5.13sWARNros2_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 + 5.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998933 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998933 ms (missed cycles : 3).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 7.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827957 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827957 ms (missed cycles : 3).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 9.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788549808.47222829 seconds ×3 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192097 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192097 ms (missed cycles : 2).[0m ×2 + 9.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 9.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.78sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788549809.04963589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.20sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 10.28sWARNros2_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 + 10.32sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 3.296ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780673 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780673 ms (missed cycles : 3).[0m ×2 + 10.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799131 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799131 ms (missed cycles : 2).[0m ×2 + 12.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050982 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050982 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	25 warnings · 118 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.609ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494143 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494143 ms (missed cycles : 3).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.535ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029635 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029635 ms (missed cycles : 4).[0m ×2 + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863314 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863314 ms (missed cycles : 2).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550113.15091062 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550113.76839447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.175ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362047 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362047 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550114.34853196 seconds ×3 + 3.81sWARNros2_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 + 3.83sWARNros2_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 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550114.92443538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511368 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511368 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550115.51457024 seconds ×3 + 5.09sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714737 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714737 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224796 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224796 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 0.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.86sINFOobjective_server_nodecaller: ×10 + 0.86sINFOobjective_server_nodetype: 0 ×10 + 0.86sINFOobjective_server_nodename: "" ×10 + 0.86sINFOobjective_server_nodeinstance_id: "" ×10 + 0.86sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.90sINFOmove_groupClearing octomap...[0m ×2 + 0.90sINFOmove_groupOctomap cleared.[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.23sWARNros2_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 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.80sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843179 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843179 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	26 warnings · 71 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939972 ms (missed cycles : 4). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939972 ms (missed cycles : 4).[0m ×2 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886508 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886508 ms (missed cycles : 3).[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923465 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923465 ms (missed cycles : 2).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549802.39055347 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549802.97208810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034815 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034815 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.4254e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657383 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657383 ms (missed cycles : 2).[0m ×2 + 5.13sWARNros2_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 + 5.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	26 warnings · 71 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939972 ms (missed cycles : 4). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939972 ms (missed cycles : 4).[0m ×2 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886508 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886508 ms (missed cycles : 3).[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923465 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923465 ms (missed cycles : 2).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549802.39055347 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549802.97208810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034815 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034815 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.4254e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657383 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657383 ms (missed cycles : 2).[0m ×2 + 5.13sWARNros2_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 + 5.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms
− skipped	Close Gripper	close_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 4.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sWARNros2_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 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	25 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067937 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998933 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998933 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827957 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827957 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788549808.47222829 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192097 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192097 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788549809.04963589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 4.05sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 3.296ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780673 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780673 ms (missed cycles : 3).[0m ×2 + 4.62sWARNros2_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 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799131 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799131 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050982 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050982 ms (missed cycles : 2).[0m ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	47 warnings · 71 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549865.72977972 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4).[0m ×2 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549866.32078266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2).[0m ×2 + 5.72sWARNros2_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 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	47 warnings · 71 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549865.72977972 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4).[0m ×2 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549866.32078266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2).[0m ×2 + 5.72sWARNros2_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 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	47 warnings · 71 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549865.72977972 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4).[0m ×2 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549866.32078266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2).[0m ×2 + 5.72sWARNros2_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 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 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	47 warnings · 71 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549865.72977972 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4).[0m ×2 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549866.32078266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2).[0m ×2 + 5.72sWARNros2_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 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	47 warnings · 71 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751902 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481968 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006402 ms (missed cycles : 4).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549865.72977972 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319441 ms (missed cycles : 4).[0m ×2 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.62sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549866.32078266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737067 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035595 ms (missed cycles : 2).[0m ×2 + 5.72sWARNros2_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 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970124 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	36 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.304ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549904.85179281 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_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 + 3.11sWARNlocal_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. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549905.43772149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_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 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.757ms + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.15sWARNros2_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 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3).[0m ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	36 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.304ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549904.85179281 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_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 + 3.11sWARNlocal_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. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549905.43772149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_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 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.757ms + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.15sWARNros2_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 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3).[0m ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	36 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691973 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596168 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.304ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256572 ms (missed cycles : 5).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549904.85179281 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_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 + 3.11sWARNlocal_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. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549905.43772149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461308 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_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 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.757ms + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.15sWARNros2_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 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217271 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795455 ms (missed cycles : 3).[0m ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 4.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sWARNros2_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 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3).[0m ×2 + 1.90sWARNros2_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 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! + 2.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550039.45768571 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550040.03255796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 4.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sWARNros2_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 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3).[0m ×2 + 1.90sWARNros2_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 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! + 2.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550039.45768571 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550040.03255796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3).[0m ×2 + 1.90sWARNros2_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 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! + 2.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550039.45768571 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550040.03255796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3).[0m ×2 + 1.90sWARNros2_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 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! + 2.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550039.45768571 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550040.03255796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3).[0m ×2 + 1.90sWARNros2_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 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! + 2.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550039.45768571 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550040.03255796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3).[0m ×2 + 1.90sWARNros2_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 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! + 2.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550039.45768571 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550040.03255796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186947 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340795 ms (missed cycles : 3).[0m ×2 + 1.90sWARNros2_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 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! + 2.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550039.45768571 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809542 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550040.03255796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924637 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421125 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	22 warnings · 118 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.609ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494143 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494143 ms (missed cycles : 3).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.535ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029635 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029635 ms (missed cycles : 4).[0m ×2 + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863314 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863314 ms (missed cycles : 2).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550113.15091062 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550113.76839447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.175ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362047 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362047 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550114.34853196 seconds ×3 + 3.81sWARNros2_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 + 3.83sWARNros2_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 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550114.92443538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511368 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511368 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550115.51457024 seconds ×3 + 5.09sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714737 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714737 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 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	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 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 · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 0.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.93sINFOobjective_server_nodecaller: ×10 + 1.93sINFOobjective_server_nodetype: 0 ×10 + 1.93sINFOobjective_server_nodename: "" ×10 + 1.93sINFOobjective_server_nodeinstance_id: "" ×10 + 1.93sINFOobjective_server_node ×10 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.96sINFOmove_groupClearing octomap...[0m ×2 + 1.96sINFOmove_groupOctomap cleared.[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 3.30sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.87sWARNros2_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 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	28 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 4.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sWARNros2_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 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sINFOjoint_trajectory_controllerReceived new action goal + 6.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.90sINFOjoint_trajectory_controllerAccepted new action goal + 6.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 303 info
+ 0.00sWARNros2_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 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.57sINFOobjective_server_nodecaller: ×10 + 3.57sINFOobjective_server_nodetype: 0 ×10 + 3.57sINFOobjective_server_nodename: "" ×10 + 3.57sINFOobjective_server_nodeinstance_id: "" ×10 + 3.57sINFOobjective_server_node ×10 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 4.94sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sWARNros2_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 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_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 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 7.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	addtovector.xml	0.0s	24 warnings · 300 info
+ 0.00sWARNros2_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 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.57sINFOobjective_server_nodecaller: ×10 + 3.57sINFOobjective_server_nodetype: 0 ×10 + 3.57sINFOobjective_server_nodename: "" ×10 + 3.57sINFOobjective_server_nodeinstance_id: "" ×10 + 3.57sINFOobjective_server_node ×10 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 4.94sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sWARNros2_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 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_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 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 4.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sWARNros2_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 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 4.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sWARNros2_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 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151482 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.94sINFOobjective_server_nodecaller: ×10 + 2.94sINFOobjective_server_nodetype: 0 ×10 + 2.94sINFOobjective_server_nodename: "" ×10 + 2.94sINFOobjective_server_nodeinstance_id: "" ×10 + 2.94sINFOobjective_server_node ×10 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 4.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sWARNros2_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 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836257 ms (missed cycles : 2).[0m ×2 + 0.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.93sINFOobjective_server_nodecaller: ×10 + 1.93sINFOobjective_server_nodetype: 0 ×10 + 1.93sINFOobjective_server_nodename: "" ×10 + 1.93sINFOobjective_server_nodeinstance_id: "" ×10 + 1.93sINFOobjective_server_node ×10 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.96sINFOmove_groupClearing octomap...[0m ×2 + 1.96sINFOmove_groupOctomap cleared.[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 3.30sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.87sWARNros2_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 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 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	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 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	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843179 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843179 ms (missed cycles : 3).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882968 ms (missed cycles : 3).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549756.85553527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549756.86581278 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549757.45081925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549757.46094322 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549758.03162217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425719 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549758.18243647 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549758.77601171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549758.83614445 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172597 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549759.41000342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359554 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831594 ms (missed cycles : 2).[0m ×2