73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.6s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.5s | 12 errors · 321 warnings · 1529 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-19-46-47-996214-e0e835ce07f7-7581 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.25sINFOstatic_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' + 4.26sINFOstatic_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' + 4.26sINFOstatic_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' + 4.27sINFOstatic_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' + 4.28sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.29sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.30sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.33sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.34sINFOmap_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. + 4.34sINFOmap_serverCreating + 4.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.38sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.40sINFOlifecycle_manager_localizationCreating + 4.41sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.42sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.42sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.42sINFOmap_serverConfiguring + 4.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.50sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.50sINFOamclConfiguring + 4.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.51sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.52sINFOmap_serverActivating + 4.52sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.53sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.55sINFOros2_control_node-12process started with pid [7727] ×2 + 4.55sINFOmove_group-24process started with pid [7748] ×2 + 4.55sINFOparameter_manager_node-25process started with pid [7793] ×2 + 4.55sINFOwaypoint_manager_node-26process started with pid [7794] ×2 + 4.55sINFOmove_joint_resampler_node-27process started with pid [7795] ×2 + 4.56sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.56sINFOmove_end_effector_resampler_node-28process started with pid [7796] ×2 + 4.56sINFOobjective_server_node_main-29process started with pid [7797] ×2 + 4.56sINFOcomponent_container_mt-30process started with pid [7798] ×2 + 4.56sINFOcomponent_container_mt-31process started with pid [7799] ×2 + 4.56sINFOexecute_objective_bridge-32process started with pid [7800] ×2 + 4.56sINFOui_teleop_bridge-33process started with pid [7801] ×2 + 4.56sINFOweb_bridge-34process started with pid [7802] ×2 + 4.56sINFOtf2_web_republisher_node-35process started with pid [7803] ×2 + 4.56sINFOvideo_server-36process started with pid [7804] ×2 + 4.56sINFOweb_bridge_auth_proxy-37process started with pid [7805] ×2 + 4.57sINFOweb_video_auth_proxy-38process started with pid [7806] ×2 + 4.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.57sINFOcomponent_container_isolated-1process started with pid [7631] ×2 + 4.57sINFOcomponent_container_isolated-2process started with pid [7632] ×2 + 4.57sINFOstatic_transform_publisher-3process started with pid [7633] ×2 + 4.57sINFOstatic_transform_publisher-4process started with pid [7634] ×2 + 4.57sINFOodom_qos_relay.py-5process started with pid [7635] ×2 + 4.57sINFOforward_stereo_publisher.py-6process started with pid [7636] ×2 + 4.57sINFOlidar_flattener.py-7process started with pid [7637] ×2 + 4.57sINFOcontroller_managerupdate rate is 600 Hz + 4.57sINFOstatic_transform_publisher-8process started with pid [7638] ×2 + 4.57sINFOstatic_transform_publisher-9process started with pid [7639] ×2 + 4.57sINFOscan_to_scan_filter_chain-10process started with pid [7724] ×2 + 4.57sINFOscan_to_scan_filter_chain-11process started with pid [7725] ×2 + 4.57sINFOros2-13process started with pid [7728] ×2 + 4.57sINFOros2-14process started with pid [7731] ×2 + 4.57sINFOros2-15process started with pid [7732] ×2 + 4.57sINFOros2-16process started with pid [7733] ×2 + 4.57sINFOros2-17process started with pid [7734] ×2 + 4.57sINFOros2-18process started with pid [7735] ×2 + 4.57sINFOcontroller_managerOverruns handling is : enabled + 4.57sINFOros2-19process started with pid [7736] ×2 + 4.57sINFOros2-20process started with pid [7737] ×2 + 4.57sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.57sWARNcontroller_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. + 4.58sINFOcontroller_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. + 4.58sINFOros2-21process started with pid [7738] ×2 + 4.58sINFOros2-22process started with pid [7739] ×2 + 4.58sINFOros2-23process started with pid [7743] ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794695 ms (missed cycles : 3). + 4.62sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.62sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.62sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.62sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.62sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.62sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.62sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.62sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.62sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.62sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.62sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.62sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.62sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.62sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.62sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794695 ms (missed cycles : 3).[0m ×2 + 4.63sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.64sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.64sINFOamclActivating + 4.64sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.64sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.64sINFOamclSubscribed to map_topic: /map + 4.64sINFOamclSubscribed to scan_topic: /scan_merged + 4.64sINFOamclCreated reinitialize_global_localization service + 4.64sINFOamclCreated request_nomotion_update service + 4.65sINFOamclA new map was received + 4.65sINFOamclInitializing particle filter instance + 4.70sINFOcontroller_serverCreating controller server + 4.73sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.73sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.73sINFOlocal_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. + 4.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.74sINFOlocal_costmap.local_costmapCreating Costmap + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.76sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.78sINFOsmoother_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. + 4.81sINFOsmoother_serverCreating smoother server + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.85sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.88sINFOrobot_state_publisherRobot initialized + 4.88sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.88sINFOplanner_serverCreating + 4.90sINFOcontroller_managerReceived robot description from topic. + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.92sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.92sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.92sINFOvideo_server2026/09/04 19:46:54 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.92sINFOvideo_server2026/09/04 19:46:54 INF configuration loaded from /tmp/moveit-webrtc-458bzwqn/mediamtx.yml ×2 + 4.92sINFOvideo_server2026/09/04 19:46:54 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.92sINFOvideo_server2026/09/04 19:46:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.93sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.94sINFOglobal_costmap.global_costmapCreating Costmap + 4.95sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.95sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.99sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.05sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.07sINFObt_navigatorCreating + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.10sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.10sINFOwaypoint_followerCreating + 5.12sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.13sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.13sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.14sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.14sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.16sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.19sINFOlifecycle_manager_navigationCreating + 5.21sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.24sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.24sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.24sINFOcontroller_serverConfiguring controller interface + 5.24sINFOcontroller_servergetting progress checker plugins.. + 5.24sINFOcontroller_servergetting goal checker plugins.. + 5.24sINFOcontroller_serverController frequency set to 20.0000Hz + 5.24sINFOlocal_costmap.local_costmapConfiguring + 5.25sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.26sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.30sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.30sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.30sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.36sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.36sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.36sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.37sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.38sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.39sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.41sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.41sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.44sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.44sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.44sINFOamclParticle filter initialization completed + 5.44sINFOamclInitializing particles from estimated pose and covariance + 5.44sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.45sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.45sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.46sWARNlaser_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. + 5.46sWARNscan_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 + 5.46sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.46sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 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. + 5.47sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.47sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.47sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.48sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.48sINFOcontroller_serverOptimizer reset ×2 + 5.50sINFOcontroller_serverController Server has FollowPath controllers available. + 5.51sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.52sINFOsmoother_serverConfiguring smoother server + 5.53sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.54sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.54sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.54sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.54sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.54sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.56sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.56sINFOplanner_serverConfiguring + 5.56sINFOglobal_costmap.global_costmapConfiguring + 5.57sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.58sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.58sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.58sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.58sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808477 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808477 ms (missed cycles : 3).[0m ×2 + 5.63sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.63sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.64sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.69sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.70sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.70sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.72sINFOplanner_serverPlanner Server has GridBased planners available. + 5.76sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.76sINFObehavior_serverConfiguring + 5.77sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.77sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.77sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.78sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.79sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.79sINFObehavior_serverConfiguring spin + 5.83sINFObehavior_serverConfiguring backup + 5.84sINFObehavior_serverConfiguring drive_on_heading + 5.85sINFObehavior_serverConfiguring assisted_teleop + 5.87sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.87sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.88sINFObehavior_serverConfiguring wait + 5.88sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.309914 seconds + 5.88sINFOmove_groupLoaded robot model in 0.309914 seconds[0m ×2 + 5.88sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.88sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.88sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.88sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.89sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.89sINFObt_navigatorConfiguring + 5.90sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.92sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.08sINFOwaypoint_manager_nodeLoaded robot model in 0.414011 seconds[0m ×2 + 6.08sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.08sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.09sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.14sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.14sINFOwaypoint_followerConfiguring + 6.17sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.17sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.17sINFOvelocity_smootherConfiguring velocity smoother + 6.18sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.18sINFOcontroller_serverActivating + 6.18sINFOlocal_costmap.local_costmapActivating + 6.18sINFOlocal_costmap.local_costmapChecking transform + 6.18sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×13 + 6.31sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.31sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.31sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.31sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.35sINFOros2_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 + 6.36sINFOros2_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 + 6.38sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.38sWARNmove_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. + 6.38sWARNmove_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. + 6.38sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.38sWARNmove_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. + 6.38sWARNmove_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. + 6.38sWARNmove_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. + 6.38sWARNmove_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. + 6.38sWARNmove_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. + 6.38sWARNmove_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. + 6.38sWARNmove_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. + 6.38sWARNmove_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 + 6.38sWARNmove_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 + 6.38sWARNmove_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 + 6.38sWARNmove_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 + 6.38sWARNmove_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. + 6.38sWARNmove_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 + 6.38sWARNmove_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 + 6.38sWARNmove_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 + 6.38sWARNmove_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 + 6.38sWARNmove_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 + 6.38sWARNmove_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 + 6.48sWARNwaypoint_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. + 6.48sWARNwaypoint_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. + 6.48sWARNwaypoint_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 + 6.48sWARNwaypoint_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 + 6.48sWARNwaypoint_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. + 6.48sWARNwaypoint_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 + 6.48sWARNwaypoint_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. + 6.48sWARNwaypoint_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 + 6.48sWARNwaypoint_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. + 6.48sWARNwaypoint_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. + 6.48sWARNwaypoint_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 + 6.48sWARNwaypoint_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 + 6.48sWARNwaypoint_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. + 6.48sWARNwaypoint_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. + 6.48sWARNwaypoint_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 + 6.48sWARNwaypoint_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 + 6.48sWARNwaypoint_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. + 6.48sWARNwaypoint_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 + 6.48sWARNwaypoint_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. + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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. + 6.49sWARNwaypoint_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 + 6.49sWARNwaypoint_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 + 6.50sWARNwaypoint_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 + 6.50sWARNwaypoint_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 + 6.50sWARNwaypoint_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. + 6.50sWARNwaypoint_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 + 6.50sWARNwaypoint_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. + 6.50sWARNwaypoint_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 + 6.50sWARNwaypoint_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. + 6.50sWARNwaypoint_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 + 6.50sWARNwaypoint_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. + 6.50sWARNwaypoint_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 + 6.50sWARNwaypoint_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. + 6.50sWARNwaypoint_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. + 6.51sWARNwaypoint_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 + 6.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.74sINFOmove_group[2026-09-04 19:46:56.368] [moveit_pro_license] [info] ×2 + 6.74sINFOmove_group************************************************* ×4 + 6.74sINFOmove_group* MoveIt Pro License ×2 + 6.74sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231894 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231894 ms (missed cycles : 2).[0m ×2 + 6.84sINFOwaypoint_manager_node[2026-09-04 19:46:56.477] [moveit_pro_license] [info] ×2 + 6.84sINFOwaypoint_manager_node************************************************* ×4 + 6.84sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.84sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.13sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.13sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.13sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.13sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.13sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.13sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.14sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.14sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.14sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.14sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.14sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.14sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.14sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.14sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.21sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.22sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.22sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.23sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.23sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.23sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.23sWARNros2_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 + 7.23sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.23sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.23sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.23sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.23sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.23sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.23sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.23sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.23sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.23sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.23sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.23sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.23sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.23sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.23sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.23sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.23sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.23sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.23sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.23sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.23sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.23sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.23sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.23sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.23sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.23sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.23sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.23sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.23sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.23sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.23sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 7.38sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.38sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 7.49sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 7.49sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 7.56sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 7.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 7.56sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 7.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 7.57sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.57sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.57sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.58sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.58sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705199 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705199 ms (missed cycles : 2).[0m ×2 + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.82sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.84sINFOobjective_server_node[2026-09-04 19:46:57.478] [moveit_pro_license] [info] ×2 + 7.84sINFOobjective_server_node************************************************* ×4 + 7.84sINFOobjective_server_node* MoveIt Pro License ×2 + 7.84sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.85sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.92sINFOobjective_server_nodeLoaded robot model in 0.032001 seconds[0m ×2 + 7.92sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.92sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.99sINFOros2_control_node[2026-09-04 19:46:57.628] [info] Controller state will be published at 20 Hz. ×2 + 8.00sINFOros2_control_node[2026-09-04 19:46:57.629] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.03sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.03sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.03sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.03sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.03sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.03sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.03sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.04sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.04sWARNcomponent_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 + 8.24sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.24sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.26sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.26sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.31sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.34sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.34sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.34sWARNobjective_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. + 8.34sWARNobjective_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. + 8.34sWARNobjective_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 + 8.34sWARNobjective_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. + 8.34sWARNobjective_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. + 8.34sWARNobjective_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. + 8.34sWARNobjective_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 + 8.34sWARNobjective_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 + 8.34sWARNobjective_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. + 8.34sWARNobjective_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 + 8.34sWARNobjective_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 + 8.34sWARNobjective_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 + 8.34sWARNobjective_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. + 8.35sWARNobjective_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. + 8.35sWARNobjective_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 + 8.35sWARNobjective_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. + 8.35sWARNobjective_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 + 8.35sWARNobjective_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. + 8.35sWARNobjective_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 + 8.35sWARNobjective_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 + 8.37sINFOros2-23process has finished cleanly [pid 7743] ×2 + 8.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.38sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 8.39sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.39sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 8.39sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 8.39sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 8.42sINFOobjective_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 + 8.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.44sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.44sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.44sINFOcomponent_container_mtLoaded robot model in 0.395263 seconds[0m ×2 + 8.44sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.44sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.45sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.45sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.45sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.45sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.45sINFOplatform_velocity_controllerconfigure successful + 8.45sINFOros2_control_nodeconfigure successful[0m ×6 + 8.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.46sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.46sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.46sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.63sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.63sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508474 ms (missed cycles : 2). + 8.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508474 ms (missed cycles : 2).[0m ×2 + 8.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sINFOros2-16process has finished cleanly [pid 7733] ×2 + 8.80sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.80sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.80sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.80sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.80sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.80sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.80sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.80sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.92sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 8.92sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.92sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 8.92sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 8.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.93sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 8.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.93sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 8.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.93sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.93sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.99sINFOcomponent_container_mt[2026-09-04 19:46:58.625] [moveit_pro_license] [info] ×2 + 8.99sINFOcomponent_container_mt************************************************* ×4 + 8.99sINFOcomponent_container_mt* MoveIt Pro License ×2 + 8.99sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.15sINFOmove_groupMoveGroup debug mode is ON + 9.15sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.15sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.19sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.20sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.20sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.20sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.29sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.29sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.29sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.29sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 9.29sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.29sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 9.29sINFOros2-19process has finished cleanly [pid 7736] ×2 + 9.32sINFOmove_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
********************************************************
+ 9.32sINFOmove_group ×8 + 9.32sINFOmove_group******************************************************** ×4 + 9.32sINFOmove_group* MoveGroup using: ×2 + 9.32sINFOmove_group* - apply_planning_scene_service ×2 + 9.32sINFOmove_group* - clear_octomap_service ×2 + 9.32sINFOmove_group* - get_group_urdf ×2 + 9.32sINFOmove_group* - load_geometry_from_file ×2 + 9.32sINFOmove_group* - get_planning_scene_service ×2 + 9.32sINFOmove_group* - kinematics_service ×2 + 9.32sINFOmove_group* - save_geometry_to_file ×2 + 9.32sINFOmove_group* - GetPlanningGroups ×2 + 9.32sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.32sINFOmove_group[0m ×2 + 9.32sINFOmove_group[92mYou can start planning now![0m ×2 + 9.35sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.35sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.35sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.35sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.35sINFOplatform_velocity_controller_nav2configure successful + 9.36sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.36sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.43sWARNros2_control_nodeCamera render tick took 1.06 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.46sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.46sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.47sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.47sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.68sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.68sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.68sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.68sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.69sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 9.69sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 9.70sINFOros2-18process has finished cleanly [pid 7735] ×2 + 9.73sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.73sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.73sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.73sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.74sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.74sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.74sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.74sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993538 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993538 ms (missed cycles : 2).[0m ×2 + 10.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 10.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 10.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 10.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.08sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 10.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 10.11sWARNros2_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 + 10.11sINFOros2-14process has finished cleanly [pid 7731] ×2 + 10.12sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 10.12sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 10.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 10.13sINFOforce_torque_sensor_broadcasterconfigure successful + 10.13sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 10.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 10.14sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.14sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.44sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.44sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.44sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.44sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 10.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 10.46sINFOros2-13process has finished cleanly [pid 7728] ×2 + 10.49sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788551218.001 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.63sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 10.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.88sINFOros2_control_node[2026-09-04 19:47:00.517] [info] Controller state will be published at 20 Hz. ×2 + 10.88sINFOros2_control_node[2026-09-04 19:47:00.518] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771651 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771651 ms (missed cycles : 3).[0m ×2 + 11.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 11.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 11.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 11.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 11.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 11.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 11.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 11.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 11.23sINFOros2-22process has finished cleanly [pid 7739] ×2 + 11.25sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 11.26sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 11.26sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 11.26sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 11.26sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 11.26sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 11.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 11.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 11.27sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 11.27sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 11.57sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.57sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.57sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.57sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.59sINFOros2-17process has finished cleanly [pid 7734] ×2 + 11.64sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 11.64sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 11.70sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.70sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.71sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.71sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133408 ms (missed cycles : 4). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133408 ms (missed cycles : 4).[0m ×2 + 12.07sINFOros2_control_node[2026-09-04 19:47:01.699] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.07sINFOros2_control_node[2026-09-04 19:47:01.701] [info] Controller state will be published at 10 Hz. ×2 + 12.07sINFOros2_control_node[2026-09-04 19:47:01.702] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.41sINFOros2-21process has finished cleanly [pid 7738] ×2 + 12.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.42sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.42sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.42sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 12.42sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 12.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.50sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.68sINFOlocal_costmap.local_costmapstart + 12.78sWARNcontroller_serverParameter controller_server.verbose not found + 12.78sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx + 12.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k111v0qh --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_1a9he2ih --params-file /tmp/launch_params_qo4a7cyx [0m ×2 + 12.83sINFOros2-15process has finished cleanly [pid 7732] ×2 + 12.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.89sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.89sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.89sINFOsmoother_serverActivating + 12.89sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916640 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916640 ms (missed cycles : 2).[0m ×2 + 12.99sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.99sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.99sINFOplanner_serverActivating + 12.99sINFOglobal_costmap.global_costmapActivating + 12.99sINFOglobal_costmap.global_costmapChecking transform + 12.99sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 13.24sINFOros2_control_node[2026-09-04 19:47:02.869] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.24sINFOros2_control_node[2026-09-04 19:47:02.872] [info] Controller state will be published at 10 Hz. ×2 + 13.24sINFOros2_control_node[2026-09-04 19:47:02.873] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.36sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788551222.111 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.48sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788551221.535 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.56sINFOros2-20process has finished cleanly [pid 7737] ×2 + 13.67sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 5.468ms + 13.99sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788551223.607628, but only time 1788551223.702506 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372437 ms (missed cycles : 3). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372437 ms (missed cycles : 3).[0m ×2 + 14.49sINFOglobal_costmap.global_costmapstart + 14.80sWARNros2_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 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227094 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227094 ms (missed cycles : 2).[0m ×2 + 15.37sWARNros2_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 + 15.55sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.55sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.65sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.65sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.65sINFObehavior_serverActivating + 15.65sINFObehavior_serverActivating spin + 15.65sINFObehavior_serverActivating backup + 15.65sINFObehavior_serverActivating drive_on_heading + 15.65sINFObehavior_serverActivating assisted_teleop + 15.65sINFObehavior_serverActivating wait + 15.65sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.76sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.76sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.76sINFObt_navigatorActivating + 15.82sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.92sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.92sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.92sINFOwaypoint_followerActivating + 15.92sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.03sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.03sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.03sINFOvelocity_smootherActivating + 16.03sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.13sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.13sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.13sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 17.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 18.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.42sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.42sINFOobjective_server_nodecaller: ×10 + 18.42sINFOobjective_server_nodetype: 0 ×10 + 18.42sINFOobjective_server_nodename: "" ×10 + 18.42sINFOobjective_server_nodeinstance_id: "" ×10 + 18.42sINFOobjective_server_node ×10 + 18.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.46sINFOmove_groupClearing octomap...[0m ×2 + 18.46sINFOmove_groupOctomap cleared.[0m ×2 + 18.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 19.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 19.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 20.33sWARNros2_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 + 20.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.38sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 20.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 20.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.3s | 3 errors · 277 warnings · 254 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857520 ms (missed cycles : 3).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.378ms + 0.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.670ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376180 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376180 ms (missed cycles : 4).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.637ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.305ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025765 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025765 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.775ms + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOjoint_trajectory_controllerGot request to cancel goal + 2.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.94sERRORobjective_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: 1788551439.11913896 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.140ms + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070759 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070759 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788551439.69964767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.565ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.555ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214636 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214636 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789815 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789815 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647266 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647266 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126654 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126654 ms (missed cycles : 3).[0m ×2 + 8.80sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.550ms + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813945 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813945 ms (missed cycles : 2).[0m ×2 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.101ms + 9.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 9.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089053 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089053 ms (missed cycles : 2).[0m ×2 + 10.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.093ms + 11.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.772ms + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342036 ms (missed cycles : 3). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342036 ms (missed cycles : 3).[0m ×2 + 11.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.253ms + 12.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.778ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819813 ms (missed cycles : 3). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819813 ms (missed cycles : 3).[0m ×2 + 12.83sINFOamclParticle filter update iteration stats: 4270 particles 723 points - 9.115ms + 13.40sINFOamclParticle filter update iteration stats: 2763 particles 723 points - 5.615ms + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958798 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958798 ms (missed cycles : 3).[0m ×2 + 13.96sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.99sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 4.150ms + 14.58sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 2.592ms + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729896 ms (missed cycles : 3). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729896 ms (missed cycles : 3).[0m ×2 + 15.17sWARNros2_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 ×6 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.924ms + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756275 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756275 ms (missed cycles : 2).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms ×2 + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023295 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023295 ms (missed cycles : 2).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217915 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217915 ms (missed cycles : 2).[0m ×2 + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301639 ms (missed cycles : 3). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301639 ms (missed cycles : 3).[0m ×2 + 19.45sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007927 ms (missed cycles : 2). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007927 ms (missed cycles : 2).[0m ×2 + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110097 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110097 ms (missed cycles : 2).[0m ×2 + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 21.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567372 ms (missed cycles : 3). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567372 ms (missed cycles : 3).[0m ×2 + 22.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 23.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556948 ms (missed cycles : 3). + 23.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556948 ms (missed cycles : 3).[0m ×2 + 23.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473242 ms (missed cycles : 3). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473242 ms (missed cycles : 3).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 24.98sWARNros2_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 + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076126 ms (missed cycles : 4). + 25.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076126 ms (missed cycles : 4).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679983 ms (missed cycles : 3). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679983 ms (missed cycles : 3).[0m ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.938482 ms (missed cycles : 5). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.938482 ms (missed cycles : 5).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988733 ms (missed cycles : 4). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988733 ms (missed cycles : 4).[0m ×2 + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087279 ms (missed cycles : 2). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087279 ms (missed cycles : 2).[0m ×2 + 29.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 30.42sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035470 ms (missed cycles : 3). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035470 ms (missed cycles : 3).[0m ×2 + 30.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 31.71sWARNros2_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 + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778742 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778742 ms (missed cycles : 2).[0m ×2 + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540954 ms (missed cycles : 3). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540954 ms (missed cycles : 3).[0m ×2 + 33.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 33.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637377 ms (missed cycles : 3). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637377 ms (missed cycles : 3).[0m ×2 + 34.68sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.68sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.433ms + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972663 ms (missed cycles : 3). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972663 ms (missed cycles : 3).[0m ×2 + 35.05sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.51sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671520 ms (missed cycles : 3). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671520 ms (missed cycles : 3).[0m ×2 + 36.71sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 36.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×6 + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744973 ms (missed cycles : 4). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744973 ms (missed cycles : 4).[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981597 ms (missed cycles : 5). + 38.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981597 ms (missed cycles : 5).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087471 ms (missed cycles : 3). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087471 ms (missed cycles : 3).[0m ×2 + 39.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 39.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649586 ms (missed cycles : 3). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649586 ms (missed cycles : 3).[0m ×2 + 40.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 41.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769578 ms (missed cycles : 3). + 41.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769578 ms (missed cycles : 3).[0m ×2 + 41.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms ×2 + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761157 ms (missed cycles : 2). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761157 ms (missed cycles : 2).[0m ×2 + 42.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.662ms + 43.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016114 ms (missed cycles : 2). + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016114 ms (missed cycles : 2).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270195 ms (missed cycles : 2). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270195 ms (missed cycles : 2).[0m ×2 + 45.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228116 ms (missed cycles : 2). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228116 ms (missed cycles : 2).[0m ×2 + 45.98sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009590 ms (missed cycles : 2). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009590 ms (missed cycles : 2).[0m ×2 + 47.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461560 ms (missed cycles : 4). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461560 ms (missed cycles : 4).[0m ×2 + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047843 ms (missed cycles : 3). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047843 ms (missed cycles : 3).[0m ×2 + 49.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 50.29sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156782 ms (missed cycles : 5). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156782 ms (missed cycles : 5).[0m ×2 + 51.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840975 ms (missed cycles : 2). + 51.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840975 ms (missed cycles : 2).[0m ×2 + 52.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067977 ms (missed cycles : 5). + 52.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067977 ms (missed cycles : 5).[0m ×2 + 53.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245907 ms (missed cycles : 2). + 53.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245907 ms (missed cycles : 2).[0m ×2 + 54.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788754 ms (missed cycles : 3). + 54.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788754 ms (missed cycles : 3).[0m ×2 + 55.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 55.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939037 ms (missed cycles : 3). + 55.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939037 ms (missed cycles : 3).[0m ×2 + 56.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486171 ms (missed cycles : 3). + 56.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486171 ms (missed cycles : 3).[0m ×2 + 57.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 57.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651388 ms (missed cycles : 4). + 57.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651388 ms (missed cycles : 4).[0m ×2 + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113646 ms (missed cycles : 2). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113646 ms (missed cycles : 2).[0m ×2 + 60.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508358 ms (missed cycles : 3). + 60.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508358 ms (missed cycles : 3).[0m ×2 + 61.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394118 ms (missed cycles : 2). + 61.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394118 ms (missed cycles : 2).[0m ×2 + 62.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379380 ms (missed cycles : 3). + 62.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379380 ms (missed cycles : 3).[0m ×2 + 62.71sWARNros2_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 + 63.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112582 ms (missed cycles : 4). + 63.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112582 ms (missed cycles : 4).[0m ×2 + 63.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 64.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637127 ms (missed cycles : 2). + 64.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637127 ms (missed cycles : 2).[0m ×2 + 64.59sWARNros2_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 + 65.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936006 ms (missed cycles : 3). + 65.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936006 ms (missed cycles : 3).[0m ×2 + 65.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 66.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 66.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772680 ms (missed cycles : 3). + 66.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772680 ms (missed cycles : 3).[0m ×2 + 67.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520115 ms (missed cycles : 2). + 67.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520115 ms (missed cycles : 2).[0m ×2 + 67.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 68.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788551504.38982201 seconds ×3 + 68.27sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 68.33sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.33sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623324 ms (missed cycles : 4). + 68.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623324 ms (missed cycles : 4).[0m ×2 + 68.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.75sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788551504.96272898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.580ms + 69.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645019 ms (missed cycles : 2). + 69.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645019 ms (missed cycles : 2).[0m ×2 + 70.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275077 ms (missed cycles : 2). + 70.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275077 ms (missed cycles : 2).[0m ×2 + 71.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 71.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 248 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551510.79286504 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2).[0m ×2 + 3.39sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551511.37563014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.25sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.25sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2).[0m ×2 + 6.87sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816665 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816665 ms (missed cycles : 3).[0m ×2 + 8.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.841ms + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788220 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788220 ms (missed cycles : 2).[0m ×2 + 9.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.019ms + 9.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812859 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812859 ms (missed cycles : 2).[0m ×2 + 10.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.013ms + 10.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.960ms + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972611 ms (missed cycles : 3). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972611 ms (missed cycles : 3).[0m ×2 + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.451ms + 11.97sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 12.01sINFOamclParticle filter update iteration stats: 3222 particles 723 points - 6.480ms + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273230 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273230 ms (missed cycles : 2).[0m ×2 + 12.62sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 4.394ms + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.366ms + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625407 ms (missed cycles : 3). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625407 ms (missed cycles : 3).[0m ×2 + 13.80sWARNros2_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 ×2 + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025097 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025097 ms (missed cycles : 2).[0m ×2 + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271494 ms (missed cycles : 5). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271494 ms (missed cycles : 5).[0m ×2 + 15.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 16.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223937 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223937 ms (missed cycles : 2).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 17.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111099 ms (missed cycles : 3). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111099 ms (missed cycles : 3).[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901501 ms (missed cycles : 2). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901501 ms (missed cycles : 2).[0m ×2 + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 19.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×4 + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340839 ms (missed cycles : 3). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340839 ms (missed cycles : 3).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.189ms + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245022 ms (missed cycles : 3). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245022 ms (missed cycles : 3).[0m ×2 + 21.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.236ms + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672007 ms (missed cycles : 3). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672007 ms (missed cycles : 3).[0m ×2 + 21.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495345 ms (missed cycles : 3). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495345 ms (missed cycles : 3).[0m ×2 + 22.85sWARNros2_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 + 22.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886205 ms (missed cycles : 3). + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886205 ms (missed cycles : 3).[0m ×2 + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713750 ms (missed cycles : 5). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713750 ms (missed cycles : 5).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494717 ms (missed cycles : 2). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494717 ms (missed cycles : 2).[0m ×2 + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139365 ms (missed cycles : 4). + 26.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139365 ms (missed cycles : 4).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 27.93sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 27.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307514 ms (missed cycles : 3). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307514 ms (missed cycles : 3).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063190 ms (missed cycles : 2). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063190 ms (missed cycles : 2).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 29.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×6 + 29.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148066 ms (missed cycles : 4). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148066 ms (missed cycles : 4).[0m ×2 + 30.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293235 ms (missed cycles : 3). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293235 ms (missed cycles : 3).[0m ×2 + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668686 ms (missed cycles : 2). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668686 ms (missed cycles : 2).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 32.99sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019797 ms (missed cycles : 3). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019797 ms (missed cycles : 3).[0m ×2 + 33.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 34.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308309 ms (missed cycles : 2). + 34.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308309 ms (missed cycles : 2).[0m ×2 + 34.66sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006528 ms (missed cycles : 4). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006528 ms (missed cycles : 4).[0m ×2 + 35.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838774 ms (missed cycles : 2). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838774 ms (missed cycles : 2).[0m ×2 + 37.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321676 ms (missed cycles : 3). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321676 ms (missed cycles : 3).[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148193 ms (missed cycles : 5). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148193 ms (missed cycles : 5).[0m ×2 + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119671 ms (missed cycles : 2). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119671 ms (missed cycles : 2).[0m ×2 + 40.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877504 ms (missed cycles : 5). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877504 ms (missed cycles : 5).[0m ×2 + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.317ms + 41.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105103 ms (missed cycles : 3). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105103 ms (missed cycles : 3).[0m ×2 + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607359 ms (missed cycles : 3). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607359 ms (missed cycles : 3).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616370 ms (missed cycles : 4). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616370 ms (missed cycles : 4).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279459 ms (missed cycles : 5). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279459 ms (missed cycles : 5).[0m ×2 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674252 ms (missed cycles : 3). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674252 ms (missed cycles : 3).[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424857 ms (missed cycles : 3). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424857 ms (missed cycles : 3).[0m ×2 + 48.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852696 ms (missed cycles : 2). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852696 ms (missed cycles : 2).[0m ×2 + 49.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268098 ms (missed cycles : 4). + 49.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268098 ms (missed cycles : 4).[0m ×2 + 50.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891588 ms (missed cycles : 2). + 50.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891588 ms (missed cycles : 2).[0m ×2 + 51.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836607 ms (missed cycles : 2). + 51.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836607 ms (missed cycles : 2).[0m ×2 + 51.57sWARNros2_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 + 52.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576473 ms (missed cycles : 3). + 52.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576473 ms (missed cycles : 3).[0m ×2 + 52.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.190ms + 53.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694086 ms (missed cycles : 3). + 53.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694086 ms (missed cycles : 3).[0m ×2 + 54.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597513 ms (missed cycles : 3). + 54.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597513 ms (missed cycles : 3).[0m ×2 + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073057 ms (missed cycles : 3). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073057 ms (missed cycles : 3).[0m ×2 + 55.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 56.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545469 ms (missed cycles : 3). + 56.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545469 ms (missed cycles : 3).[0m ×2 + 57.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747521 ms (missed cycles : 3). + 57.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747521 ms (missed cycles : 3).[0m ×2 + 58.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087727 ms (missed cycles : 3). + 58.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087727 ms (missed cycles : 3).[0m ×2 + 59.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685730 ms (missed cycles : 4). + 59.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685730 ms (missed cycles : 4).[0m ×2 + 60.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 60.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788551568.19576001 seconds ×3 + 60.42sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.42sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.85sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788551568.78423023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469583 ms (missed cycles : 3). + 60.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469583 ms (missed cycles : 3).[0m ×2 + 61.33sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 61.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.580ms + 61.67sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468542 ms (missed cycles : 3). + 62.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468542 ms (missed cycles : 3).[0m ×2 + 62.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 63.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185706 ms (missed cycles : 2). + 63.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185706 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.2s | 240 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071920 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071920 ms (missed cycles : 2).[0m ×2 + 1.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412508 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412508 ms (missed cycles : 3).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 2.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788551279.83811569 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375308 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375308 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.31sWARNros2_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 ×4 + 3.31sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788551280.42010593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.35sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 2.772ms + 3.72sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 3.89sWARNros2_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 ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319469 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319469 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705935 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705935 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.92sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580516 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580516 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995347 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995347 ms (missed cycles : 2).[0m ×2 + 8.41sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 3.466ms + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823371 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823371 ms (missed cycles : 3).[0m ×2 + 8.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 3.025ms + 9.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.024ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938402 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938402 ms (missed cycles : 3).[0m ×2 + 9.80sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135862 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135862 ms (missed cycles : 3).[0m ×2 + 10.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 11.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098675 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098675 ms (missed cycles : 2).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833487 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833487 ms (missed cycles : 2).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms ×2 + 13.66sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310742 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310742 ms (missed cycles : 2).[0m ×2 + 14.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.177ms + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076211 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076211 ms (missed cycles : 2).[0m ×2 + 15.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.116ms + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171973 ms (missed cycles : 4). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171973 ms (missed cycles : 4).[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610012 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610012 ms (missed cycles : 2).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 17.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544059 ms (missed cycles : 3). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544059 ms (missed cycles : 3).[0m ×2 + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 19.00sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285773 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285773 ms (missed cycles : 2).[0m ×2 + 19.60sWARNros2_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 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220078 ms (missed cycles : 4). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220078 ms (missed cycles : 4).[0m ×2 + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.320627 ms (missed cycles : 5). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.320627 ms (missed cycles : 5).[0m ×2 + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504469 ms (missed cycles : 3). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504469 ms (missed cycles : 3).[0m ×2 + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508568 ms (missed cycles : 4). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508568 ms (missed cycles : 4).[0m ×2 + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024363 ms (missed cycles : 3). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024363 ms (missed cycles : 3).[0m ×2 + 25.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×8 + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 25.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184550 ms (missed cycles : 2). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184550 ms (missed cycles : 2).[0m ×2 + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844474 ms (missed cycles : 2). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844474 ms (missed cycles : 2).[0m ×2 + 27.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102794 ms (missed cycles : 2). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102794 ms (missed cycles : 2).[0m ×2 + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656584 ms (missed cycles : 4). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656584 ms (missed cycles : 4).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 29.87sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678084 ms (missed cycles : 2). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678084 ms (missed cycles : 2).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910024 ms (missed cycles : 3). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910024 ms (missed cycles : 3).[0m ×2 + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167205 ms (missed cycles : 5). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167205 ms (missed cycles : 5).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 32.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674877 ms (missed cycles : 2). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674877 ms (missed cycles : 2).[0m ×2 + 34.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542580 ms (missed cycles : 4). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542580 ms (missed cycles : 4).[0m ×2 + 34.34sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690828 ms (missed cycles : 5). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690828 ms (missed cycles : 5).[0m ×2 + 36.01sWARNros2_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 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229014 ms (missed cycles : 2). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229014 ms (missed cycles : 2).[0m ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262072 ms (missed cycles : 2). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262072 ms (missed cycles : 2).[0m ×2 + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771946 ms (missed cycles : 3). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771946 ms (missed cycles : 3).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948287 ms (missed cycles : 2). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948287 ms (missed cycles : 2).[0m ×2 + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925727 ms (missed cycles : 2). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925727 ms (missed cycles : 2).[0m ×2 + 40.92sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 40.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 41.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926125 ms (missed cycles : 3). + 41.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926125 ms (missed cycles : 3).[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389290 ms (missed cycles : 3). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389290 ms (missed cycles : 3).[0m ×2 + 43.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908734 ms (missed cycles : 3). + 43.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908734 ms (missed cycles : 3).[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113467 ms (missed cycles : 2). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113467 ms (missed cycles : 2).[0m ×2 + 46.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938879 ms (missed cycles : 3). + 46.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938879 ms (missed cycles : 3).[0m ×2 + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523400 ms (missed cycles : 3). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523400 ms (missed cycles : 3).[0m ×2 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077424 ms (missed cycles : 3). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077424 ms (missed cycles : 3).[0m ×2 + 48.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859054 ms (missed cycles : 3). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859054 ms (missed cycles : 3).[0m ×2 + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995478 ms (missed cycles : 3). + 50.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995478 ms (missed cycles : 3).[0m ×2 + 51.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799343 ms (missed cycles : 3). + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799343 ms (missed cycles : 3).[0m ×2 + 51.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 52.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266279 ms (missed cycles : 3). + 52.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266279 ms (missed cycles : 3).[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719893 ms (missed cycles : 4). + 53.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719893 ms (missed cycles : 4).[0m ×2 + 54.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479806 ms (missed cycles : 3). + 54.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479806 ms (missed cycles : 3).[0m ×2 + 55.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 55.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407779 ms (missed cycles : 3). + 55.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407779 ms (missed cycles : 3).[0m ×2 + 56.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368624 ms (missed cycles : 4). + 56.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368624 ms (missed cycles : 4).[0m ×2 + 57.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3). + 57.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3).[0m ×2 + 58.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3). + 58.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3).[0m ×2 + 59.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5). + 59.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5).[0m ×2 + 59.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551337.04022598 seconds ×3 + 60.00sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 60.10sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.10sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.48sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551337.62292719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.440ms + 60.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4). + 60.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4).[0m ×2 + 60.90sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 61.22sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2). + 61.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2).[0m ×2 + 62.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3). + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.3s | 247 warnings · 217 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.66sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551376.08599281 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551376.66231370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNros2_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 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.273ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2).[0m ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.88sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323702 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323702 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706020 ms (missed cycles : 5). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706020 ms (missed cycles : 5).[0m ×2 + 8.16sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.685ms + 8.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978920 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978920 ms (missed cycles : 3).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.760ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.105ms + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996761 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996761 ms (missed cycles : 2).[0m ×2 + 10.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.701ms + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.498ms + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368009 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368009 ms (missed cycles : 3).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.791ms + 12.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.915ms + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408902 ms (missed cycles : 5). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408902 ms (missed cycles : 5).[0m ×2 + 12.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.944ms + 13.38sWARNros2_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 + 13.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.529ms + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747141 ms (missed cycles : 3). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747141 ms (missed cycles : 3).[0m ×2 + 14.01sWARNros2_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 + 14.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.242ms + 14.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.214ms + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404223 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404223 ms (missed cycles : 3).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.228ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924123 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924123 ms (missed cycles : 2).[0m ×2 + 15.79sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 7.479ms + 16.38sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 6.155ms + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880098 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880098 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 4.443ms + 17.62sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 3.194ms + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367997 ms (missed cycles : 3). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367997 ms (missed cycles : 3).[0m ×2 + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.800ms + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538730 ms (missed cycles : 6). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538730 ms (missed cycles : 6).[0m ×2 + 18.82sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 19.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 19.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946133 ms (missed cycles : 3). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946133 ms (missed cycles : 3).[0m ×2 + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 20.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.423ms + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967583 ms (missed cycles : 3). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967583 ms (missed cycles : 3).[0m ×2 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 22.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481383 ms (missed cycles : 2). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481383 ms (missed cycles : 2).[0m ×2 + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms ×2 + 23.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005761 ms (missed cycles : 4). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005761 ms (missed cycles : 4).[0m ×2 + 23.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569047 ms (missed cycles : 3). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569047 ms (missed cycles : 3).[0m ×2 + 24.34sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 24.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862311 ms (missed cycles : 2). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862311 ms (missed cycles : 2).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550382 ms (missed cycles : 3). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550382 ms (missed cycles : 3).[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.133ms + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.346237 ms (missed cycles : 4). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.346237 ms (missed cycles : 4).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585552 ms (missed cycles : 4). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585552 ms (missed cycles : 4).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839507 ms (missed cycles : 4). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839507 ms (missed cycles : 4).[0m ×2 + 29.86sWARNros2_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 + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 30.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181040 ms (missed cycles : 4). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181040 ms (missed cycles : 4).[0m ×2 + 31.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260245 ms (missed cycles : 4). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260245 ms (missed cycles : 4).[0m ×2 + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040146 ms (missed cycles : 2). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040146 ms (missed cycles : 2).[0m ×2 + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms ×2 + 33.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404767 ms (missed cycles : 5). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404767 ms (missed cycles : 5).[0m ×2 + 34.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107745 ms (missed cycles : 4). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107745 ms (missed cycles : 4).[0m ×2 + 35.42sWARNros2_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 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288747 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288747 ms (missed cycles : 2).[0m ×2 + 36.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003579 ms (missed cycles : 2). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003579 ms (missed cycles : 2).[0m ×2 + 37.63sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737494 ms (missed cycles : 5). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737494 ms (missed cycles : 5).[0m ×2 + 38.36sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132169 ms (missed cycles : 4). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132169 ms (missed cycles : 4).[0m ×2 + 40.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636377 ms (missed cycles : 4). + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636377 ms (missed cycles : 4).[0m ×2 + 40.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 41.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×4 + 41.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 41.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947310 ms (missed cycles : 5). + 41.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947310 ms (missed cycles : 5).[0m ×2 + 41.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 42.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714138 ms (missed cycles : 2). + 42.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714138 ms (missed cycles : 2).[0m ×2 + 42.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 43.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.637ms + 43.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056665 ms (missed cycles : 5). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056665 ms (missed cycles : 5).[0m ×2 + 43.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112721 ms (missed cycles : 3). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112721 ms (missed cycles : 3).[0m ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019994 ms (missed cycles : 5). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019994 ms (missed cycles : 5).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995563 ms (missed cycles : 2). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995563 ms (missed cycles : 2).[0m ×2 + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378514 ms (missed cycles : 5). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378514 ms (missed cycles : 5).[0m ×2 + 48.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 48.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010527 ms (missed cycles : 5). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010527 ms (missed cycles : 5).[0m ×2 + 49.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 49.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408031 ms (missed cycles : 3). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408031 ms (missed cycles : 3).[0m ×2 + 50.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870268 ms (missed cycles : 3). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870268 ms (missed cycles : 3).[0m ×2 + 51.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 51.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682293 ms (missed cycles : 4). + 51.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682293 ms (missed cycles : 4).[0m ×2 + 53.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028923 ms (missed cycles : 3). + 53.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028923 ms (missed cycles : 3).[0m ×2 + 53.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 54.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900894 ms (missed cycles : 2). + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900894 ms (missed cycles : 2).[0m ×2 + 54.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 54.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788551428.38244867 seconds ×3 + 55.12sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.12sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059341 ms (missed cycles : 2). + 55.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059341 ms (missed cycles : 2).[0m ×2 + 55.52sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.52sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.53sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.57sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788551428.95834160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.00sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 56.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.418ms + 56.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647122 ms (missed cycles : 3). + 56.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647122 ms (missed cycles : 3).[0m ×2 + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702050 ms (missed cycles : 3). + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702050 ms (missed cycles : 3).[0m ×2 + 58.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382311 ms (missed cycles : 3). + 58.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382311 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 184 warnings · 381 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.16sINFOobjective_server_nodecaller: ×12 + 1.16sINFOobjective_server_nodetype: 0 ×12 + 1.16sINFOobjective_server_nodename: "" ×12 + 1.16sINFOobjective_server_nodeinstance_id: "" ×12 + 1.16sINFOobjective_server_node ×12 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380698 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380698 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834015 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834015 ms (missed cycles : 3).[0m ×2 + 8.14sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 2.953ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095964 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095964 ms (missed cycles : 4).[0m ×2 + 8.69sWARNros2_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 ×12 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159232 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159232 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181904 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181904 ms (missed cycles : 2).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826001 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826001 ms (missed cycles : 2).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651264 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651264 ms (missed cycles : 3).[0m ×2 + 13.15sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958204 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958204 ms (missed cycles : 3).[0m ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055734 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055734 ms (missed cycles : 2).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128666 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128666 ms (missed cycles : 2).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134957 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134957 ms (missed cycles : 2).[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843782 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843782 ms (missed cycles : 2).[0m ×2 + 18.20sWARNros2_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 + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317983 ms (missed cycles : 4). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317983 ms (missed cycles : 4).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879386 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879386 ms (missed cycles : 2).[0m ×2 + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972042 ms (missed cycles : 3). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972042 ms (missed cycles : 3).[0m ×2 + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299182 ms (missed cycles : 3). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299182 ms (missed cycles : 3).[0m ×2 + 23.24sWARNros2_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 + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681169 ms (missed cycles : 2). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681169 ms (missed cycles : 2).[0m ×2 + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716016 ms (missed cycles : 3). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716016 ms (missed cycles : 3).[0m ×2 + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737487 ms (missed cycles : 2). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737487 ms (missed cycles : 2).[0m ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736029 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736029 ms (missed cycles : 2).[0m ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857595 ms (missed cycles : 5). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857595 ms (missed cycles : 5).[0m ×2 + 28.27sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066263 ms (missed cycles : 2). + 28.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066263 ms (missed cycles : 2).[0m ×2 + 28.85sWARNros2_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 ×4 + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507137 ms (missed cycles : 3). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507137 ms (missed cycles : 3).[0m ×2 + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984927 ms (missed cycles : 3). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984927 ms (missed cycles : 3).[0m ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138820 ms (missed cycles : 4). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138820 ms (missed cycles : 4).[0m ×2 + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640848 ms (missed cycles : 3). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640848 ms (missed cycles : 3).[0m ×2 + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218040 ms (missed cycles : 2). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218040 ms (missed cycles : 2).[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732440 ms (missed cycles : 3). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732440 ms (missed cycles : 3).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905228 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905228 ms (missed cycles : 2).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617414 ms (missed cycles : 2). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617414 ms (missed cycles : 2).[0m ×2 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363331 ms (missed cycles : 3). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363331 ms (missed cycles : 3).[0m ×2 + 38.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 38.94sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 3.444ms + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199304 ms (missed cycles : 2). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199304 ms (missed cycles : 2).[0m ×2 + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331143 ms (missed cycles : 3). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331143 ms (missed cycles : 3).[0m ×2 + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519657 ms (missed cycles : 2). + 41.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519657 ms (missed cycles : 2).[0m ×2 + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557691 ms (missed cycles : 2). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557691 ms (missed cycles : 2).[0m ×2 + 43.42sWARNros2_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 + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031082 ms (missed cycles : 2). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031082 ms (missed cycles : 2).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686693 ms (missed cycles : 3). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686693 ms (missed cycles : 3).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913821 ms (missed cycles : 2). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913821 ms (missed cycles : 2).[0m ×2 + 46.75sINFOjoint_trajectory_controllerGoal reached, success! + 46.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551273.69066787 seconds ×3 + 46.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265805 ms (missed cycles : 2). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265805 ms (missed cycles : 2).[0m ×2 + 47.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.32sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551274.25799417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302900 ms (missed cycles : 2). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302900 ms (missed cycles : 2).[0m ×2 + 48.49sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 48.56sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194540 ms (missed cycles : 2). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194540 ms (missed cycles : 2).[0m ×2 + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 151 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105791 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105791 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626282 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626282 ms (missed cycles : 3).[0m ×2 + 1.11sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.11sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.16sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788551343.39305758 seconds ×3 + 2.10sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684896 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684896 ms (missed cycles : 4).[0m ×2 + 2.68sWARNros2_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 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788551344.97584176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049161 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049161 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956901 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956901 ms (missed cycles : 3).[0m ×2 + 4.68sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433894 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433894 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852119 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852119 ms (missed cycles : 3).[0m ×2 + 7.17sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.771ms + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154716 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154716 ms (missed cycles : 2).[0m ×2 + 8.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.491ms + 8.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.667ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730432 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730432 ms (missed cycles : 2).[0m ×2 + 9.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.506ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.470ms + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361158 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361158 ms (missed cycles : 3).[0m ×2 + 10.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.137ms + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.711ms + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078552 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078552 ms (missed cycles : 2).[0m ×2 + 11.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.839ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839608 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839608 ms (missed cycles : 2).[0m ×2 + 12.29sWARNros2_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 + 12.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.318ms + 12.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.222ms + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174223 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174223 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 3710 particles 723 points - 7.182ms + 14.10sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 4.797ms + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991410 ms (missed cycles : 3). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991410 ms (missed cycles : 3).[0m ×2 + 14.68sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.072ms + 15.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443031 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443031 ms (missed cycles : 2).[0m ×2 + 15.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 16.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872466 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872466 ms (missed cycles : 3).[0m ×2 + 17.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471798 ms (missed cycles : 3). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471798 ms (missed cycles : 3).[0m ×2 + 17.67sWARNros2_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 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 18.33sWARNros2_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 + 18.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101403 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101403 ms (missed cycles : 3).[0m ×2 + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 19.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.262ms + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923848 ms (missed cycles : 3). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923848 ms (missed cycles : 3).[0m ×2 + 20.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659779 ms (missed cycles : 6). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659779 ms (missed cycles : 6).[0m ×2 + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 21.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164118 ms (missed cycles : 2). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164118 ms (missed cycles : 2).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289100 ms (missed cycles : 4). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289100 ms (missed cycles : 4).[0m ×2 + 23.20sWARNros2_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 + 23.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 23.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 23.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429526 ms (missed cycles : 3). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429526 ms (missed cycles : 3).[0m ×2 + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912949 ms (missed cycles : 2). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912949 ms (missed cycles : 2).[0m ×2 + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 25.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229532 ms (missed cycles : 5). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229532 ms (missed cycles : 5).[0m ×2 + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794004 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794004 ms (missed cycles : 3).[0m ×2 + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864990 ms (missed cycles : 3). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864990 ms (missed cycles : 3).[0m ×2 + 28.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 29.30sWARNros2_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 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.248ms + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007291 ms (missed cycles : 4). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007291 ms (missed cycles : 4).[0m ×2 + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599603 ms (missed cycles : 3). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599603 ms (missed cycles : 3).[0m ×2 + 30.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2).[0m ×2 + 33.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3).[0m ×2 + 33.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551376.08599281 seconds ×3 + 33.98sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 33.98sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.28sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.28sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551376.66231370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.79sWARNros2_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 + 34.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.273ms + 34.83sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3).[0m ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.3s | 104 warnings · 241 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747521 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747521 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087727 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087727 ms (missed cycles : 3).[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685730 ms (missed cycles : 4). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685730 ms (missed cycles : 4).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788551568.19576001 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.72sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.74sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.74sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.76sINFOobjective_server_nodecaller: ×6 + 3.76sINFOobjective_server_nodetype: 0 ×6 + 3.76sINFOobjective_server_nodename: "" ×6 + 3.76sINFOobjective_server_nodeinstance_id: "" ×6 + 3.76sINFOobjective_server_node ×6 + 3.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788551568.78423023 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 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469583 ms (missed cycles : 3). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469583 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.580ms + 4.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468542 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468542 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_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 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185706 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185706 ms (missed cycles : 2).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059615 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059615 ms (missed cycles : 2).[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419769 ms (missed cycles : 3). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419769 ms (missed cycles : 3).[0m ×2 + 8.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621900 ms (missed cycles : 4). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621900 ms (missed cycles : 4).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441979 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441979 ms (missed cycles : 3).[0m ×2 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 10.34sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 10.46sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.51sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 10.63sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.67sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 10.99sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766060 ms (missed cycles : 3). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766060 ms (missed cycles : 3).[0m ×2 + 11.45sINFOobjective_server_nodeFound path in 33 iterations (0.0377604 s). ×2 + 11.98sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 12.04sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001335 ms (missed cycles : 4). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001335 ms (missed cycles : 4).[0m ×2 + 12.65sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.70sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 13.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230231 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230231 ms (missed cycles : 2).[0m ×2 + 13.56sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.03sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856792 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856792 ms (missed cycles : 3).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767646 ms (missed cycles : 4). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767646 ms (missed cycles : 4).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.723ms + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559077 ms (missed cycles : 3). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559077 ms (missed cycles : 3).[0m ×2 + 16.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.237ms + 17.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.017ms + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753425 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753425 ms (missed cycles : 2).[0m ×2 + 18.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.622ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528718 ms (missed cycles : 3). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528718 ms (missed cycles : 3).[0m ×2 + 19.12sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.760ms + 19.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551584.52048635 seconds ×3 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041043 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041043 ms (missed cycles : 2).[0m ×2 + 20.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.09sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551585.12575221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.16sINFOmove_groupClearing octomap...[0m ×2 + 20.16sINFOmove_groupOctomap cleared.[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.407ms + 20.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551585.65587711 seconds ×3 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331029 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331029 ms (missed cycles : 2).[0m ×2 + 20.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 21.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551586.22644162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919081 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919081 ms (missed cycles : 2).[0m ×2 + 21.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551586.78656340 seconds ×3 + 21.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.05sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980709 ms (missed cycles : 3). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980709 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 106 errors · 38 warnings · 517 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.017ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753425 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753425 ms (missed cycles : 2).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.622ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528718 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528718 ms (missed cycles : 3).[0m ×2 + 1.65sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.760ms + 2.07sINFOjoint_trajectory_controllerGoal reached, success! + 2.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551584.52048635 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041043 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041043 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551585.12575221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.407ms + 3.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551585.65587711 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331029 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331029 ms (missed cycles : 2).[0m ×2 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551586.22644162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919081 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919081 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551586.78656340 seconds ×3 + 4.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.59sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980709 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980709 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567663 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567663 ms (missed cycles : 2).[0m ×2 + 7.16sWARNros2_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 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506225 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506225 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784251 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784251 ms (missed cycles : 2).[0m ×2 + 8.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626868 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626868 ms (missed cycles : 2).[0m ×2 + 10.13sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.15sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORweb_video_auth_proxy-38process has died [pid 7806, 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 + 10.15sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.16sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORweb_bridge_auth_proxy-37process has died [pid 7805, 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 + 10.17sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.20sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.20sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.21sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.22sINFOvideo_server-36process has finished cleanly [pid 7804] ×2 + 10.22sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.23sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.24sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.25sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.26sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.28sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.29sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.29sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.30sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.31sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.33sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.33sINFOcontroller_managerShutdown request received.... + 10.33sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.33sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.33sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.33sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.33sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.33sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.33sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.33sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.33sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.33sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.33sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.33sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.33sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.33sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.33sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.33sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.33sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.33sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.33sINFOcontroller_managerShutting down the controller manager. + 10.34sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.35sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.36sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.36sERRORmove_group-24process has died [pid 7748, 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_d8xzbggt --params-file /tmp/launch_params_50mdim6b --params-file /tmp/launch_params_srzlrujs --params-file /tmp/launch_params_314zokza --params-file /tmp/launch_params_e2j37kif --params-file /tmp/launch_params_90l3dxr_']. ×2 + 10.37sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.38sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.39sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.40sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.41sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.42sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.43sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.43sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.43sINFOmap_serverDeactivating + 10.43sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.44sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.44sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.44sINFOcontroller_serverDeactivating + 10.44sINFOlocal_costmap.local_costmapDeactivating + 10.44sINFOvideo_server2026/09/04 19:53:12 INF shutting down gracefully ×2 + 10.44sINFOvideo_server2026/09/04 19:53:12 INF [WebRTC] closing ×2 + 10.44sINFOvideo_server2026/09/04 19:53:12 INF [RTSP] closing ×2 + 10.44sINFOvideo_server2026/09/04 19:53:12 INF waiting for running hooks ×2 + 10.44sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.44sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOmap_serverCleaning up + 10.44sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.44sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.44sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.44sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.45sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.45sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.45sERRORmove_groupStack trace (most recent call last) in thread 8430: ×2 + 10.45sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.45sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe17be77a63, in __clone ×2 + 10.45sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe17bdeaaa3, in ×2 + 10.45sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe17c07cdb3, in ×2 + 10.45sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fe17c7e1a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.45sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe17c40e620, in rclcpp::Rate::sleep() ×2 + 10.45sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe17c350d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.45sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe17c312087, in ×2 + 10.45sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe17c04b390, in __cxa_throw ×2 + 10.45sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe17c035a54, in std::terminate() ×2 + 10.45sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.45sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.45sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.45sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.45sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.45sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.45sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.45sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.45sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe17c04b0d9, in ×2 + 10.45sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe17c035ff4, in ×2 + 10.45sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe17bd768fe, in abort ×2 + 10.45sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe17bd9327d, in raise ×2 + 10.45sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe17bdecb2c, in pthread_kill ×2 + 10.45sERRORmove_groupAborted (Signal sent by tkill() 7748 0) ×2 + 10.45sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.45sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.45sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.45sINFOodom_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 + 10.45sINFOodom_qos_relay.pymain() ×2 + 10.45sINFOodom_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 + 10.45sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.45sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.45sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.45sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.45sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.45sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.45sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.45sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.45sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.46sERRORamclThe bond connection to the lifecycle manager has been broken + 10.48sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.49sINFOcontroller_serverCleaning up + 10.49sINFOlocal_costmap.local_costmapCleaning up + 10.53sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.53sINFOsmoother_serverDeactivating + 10.53sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.53sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.53sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.53sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.53sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.53sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.53sINFOvelocity_smootherDeactivating + 10.53sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.54sINFOsmoother_serverCleaning up + 10.54sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.54sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.55sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.56sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.56sINFOplanner_serverDeactivating + 10.56sINFOglobal_costmap.global_costmapDeactivating + 10.66sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.66sINFOwaypoint_followerDeactivating + 10.66sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.69sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.69sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.70sINFOplanner_serverCleaning up + 10.72sINFOglobal_costmap.global_costmapCleaning up + 10.73sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.73sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.77sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.77sINFObehavior_serverDeactivating + 10.77sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.77sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.77sINFObt_navigatorDeactivating + 10.77sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.78sINFObehavior_serverCleaning up + 10.78sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.78sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.78sINFOwaypoint_followerCleaning up + 10.79sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.79sINFOvelocity_smootherCleaning up + 10.79sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.89sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.89sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.89sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.89sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.89sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.89sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.89sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.89sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.89sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.89sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.89sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.89sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.89sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.89sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.89sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.91sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.91sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.91sINFObt_navigatorCleaning up + 11.09sINFObt_navigatorCompleted Cleaning up + 11.09sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.09sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.09sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.09sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.09sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.09sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.09sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.09sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.09sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.26sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7803] ×2 + 11.26sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.33sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7796] ×2 + 11.34sINFOui_teleop_bridge-33process has finished cleanly [pid 7801] ×2 + 11.35sINFOexecute_objective_bridge-32process has finished cleanly [pid 7800] ×2 + 11.35sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7795] ×2 + 11.36sINFOcomponent_container_mt-31process has finished cleanly [pid 7799] ×2 + 11.37sINFOparameter_manager_node-25process has finished cleanly [pid 7793] ×2 + 11.39sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7725] ×2 + 11.40sINFOwaypoint_manager_node-26process has finished cleanly [pid 7794] ×2 + 11.40sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7724] ×2 + 11.40sERRORcomponent_container_isolated-1process has died [pid 7631, 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_f37_cu8_ --params-file /tmp/launch_params_lvz8ba6w -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.41sINFOstatic_transform_publisher-9process has finished cleanly [pid 7639] ×2 + 11.41sINFOstatic_transform_publisher-8process has finished cleanly [pid 7638] ×2 + 11.42sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.42sINFOlidar_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 + 11.42sINFOlidar_flattener.pymain() ×2 + 11.42sINFOlidar_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 + 11.42sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.42sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.42sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.42sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.42sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.42sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.42sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.42sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.42sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.42sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.42sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.42sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.42sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.42sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.43sINFOobjective_server_node[2026-09-04 19:53:13.865] [moveit_pro_license] [critical] ×2 + 11.43sINFOobjective_server_node************************************************* ×4 + 11.43sINFOobjective_server_node* MoveIt Pro License ×2 + 11.43sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.45sINFOstatic_transform_publisher-4process has finished cleanly [pid 7634] ×2 + 11.47sINFOstatic_transform_publisher-3process has finished cleanly [pid 7633] ×2 + 11.48sERRORlidar_flattener.py-7process has died [pid 7637, 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_2ipml9e_']. ×2 + 11.48sINFOcomponent_container_mt-30process has finished cleanly [pid 7798] ×2 + 11.50sERRORodom_qos_relay.py-5process has died [pid 7635, 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 + 11.51sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7636] ×2 + 11.51sINFOobjective_server_node_main-29process has finished cleanly [pid 7797] ×2 + 11.51sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.77sERRORcomponent_container_isolated-2process has died [pid 7632, 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_f37_cu8_ --params-file /tmp/launch_params_owju2c4h -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.06sINFOros2_control_node-12process has finished cleanly [pid 7727] ×2 + 13.11sINFOweb_bridge-34process has finished cleanly [pid 7802] ×2 + 13.11sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 97 warnings · 155 info |
+ 0.00sWARNros2_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 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682293 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682293 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028923 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028923 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900894 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900894 ms (missed cycles : 2).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.20sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788551428.38244867 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059341 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059341 ms (missed cycles : 2).[0m ×2 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788551428.95834160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.25sWARNros2_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 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.418ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647122 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647122 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702050 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702050 ms (missed cycles : 3).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382311 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382311 ms (missed cycles : 3).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437728 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437728 ms (missed cycles : 2).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070762 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070762 ms (missed cycles : 2).[0m ×2 + 8.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.861ms + 9.32sWARNros2_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 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746647 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746647 ms (missed cycles : 3).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.607ms + 10.45sWARNros2_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 + 10.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.279ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857520 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857520 ms (missed cycles : 3).[0m ×2 + 11.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.378ms + 11.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.670ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376180 ms (missed cycles : 4). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376180 ms (missed cycles : 4).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.637ms + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.305ms + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025765 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025765 ms (missed cycles : 2).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.775ms + 13.89sINFOobjective_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 + 13.89sINFOjoint_trajectory_controllerGot request to cancel goal + 13.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.94sERRORobjective_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: 1788551439.11913896 seconds ×3 + 14.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.140ms + 14.03sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.03sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070759 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070759 ms (missed cycles : 2).[0m ×2 + 14.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788551439.69964767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.565ms + 14.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 15.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.555ms + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214636 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214636 ms (missed cycles : 2).[0m ×2 + 15.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789815 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789815 ms (missed cycles : 2).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647266 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647266 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 63 warnings · 142 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551337.04022598 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551337.62292719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.440ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_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 + 5.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103968 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103968 ms (missed cycles : 2).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105791 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105791 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626282 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626282 ms (missed cycles : 3).[0m ×2 + 9.34sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788551343.39305758 seconds ×3 + 10.28sWARNros2_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 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684896 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684896 ms (missed cycles : 4).[0m ×2 + 10.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.89sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.93sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788551344.97584176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.35sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049161 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049161 ms (missed cycles : 3).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956901 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956901 ms (missed cycles : 3).[0m ×2 + 12.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433894 ms (missed cycles : 3). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433894 ms (missed cycles : 3).[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 3.936006 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936006 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772680 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772680 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520115 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520115 ms (missed cycles : 2).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788551504.38982201 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623324 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623324 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788551504.96272898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.580ms + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645019 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645019 ms (missed cycles : 2).[0m ×2 + 4.57sWARNros2_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 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275077 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275077 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3).[0m ×2 + 8.00sWARNros2_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 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3).[0m ×2 + 9.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551510.79286504 seconds ×3 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2).[0m ×2 + 9.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 9.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.77sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551511.37563014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3).[0m ×2 + 12.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 49 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031082 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031082 ms (missed cycles : 2).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686693 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686693 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913821 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913821 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551273.69066787 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265805 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265805 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551274.25799417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302900 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302900 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194540 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194540 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3).[0m ×2 + 7.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 7.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071920 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071920 ms (missed cycles : 2).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412508 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412508 ms (missed cycles : 3).[0m ×2 + 8.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 9.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788551279.83811569 seconds ×3 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375308 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375308 ms (missed cycles : 3).[0m ×2 + 9.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.84sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.87sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.88sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788551280.42010593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.91sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 2.772ms + 10.28sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319469 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319469 ms (missed cycles : 2).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705935 ms (missed cycles : 3). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705935 ms (missed cycles : 3).[0m ×2 + 12.43sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580516 ms (missed cycles : 3). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580516 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 28 warnings · 119 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559077 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559077 ms (missed cycles : 3).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.237ms + 0.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.017ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753425 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753425 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.622ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528718 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528718 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.760ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551584.52048635 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041043 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041043 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551585.12575221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.407ms + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551585.65587711 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331029 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331029 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551586.22644162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919081 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919081 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551586.78656340 seconds ×3 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980709 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980709 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567663 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567663 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551337.04022598 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551337.62292719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.440ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_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 + 5.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380698 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380698 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 27 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031082 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031082 ms (missed cycles : 2).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686693 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686693 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913821 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913821 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551273.69066787 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265805 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265805 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551274.25799417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302900 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302900 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194540 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194540 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 27 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031082 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031082 ms (missed cycles : 2).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686693 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686693 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913821 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913821 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551273.69066787 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265805 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265805 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551274.25799417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302900 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302900 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194540 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194540 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 24 warnings · 329 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.28sINFObehavior_serverActivating + 0.28sINFObehavior_serverActivating spin + 0.28sINFObehavior_serverActivating backup + 0.28sINFObehavior_serverActivating drive_on_heading + 0.28sINFObehavior_serverActivating assisted_teleop + 0.28sINFObehavior_serverActivating wait + 0.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.38sINFObt_navigatorActivating + 0.45sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.55sINFOwaypoint_followerActivating + 0.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.65sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.65sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.65sINFOvelocity_smootherActivating + 0.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.76sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 2.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 4.96sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826680 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071920 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071920 ms (missed cycles : 2).[0m ×2 + 1.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412508 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412508 ms (missed cycles : 3).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788551279.83811569 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375308 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375308 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.31sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788551280.42010593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 2.772ms + 3.72sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 3.89sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319469 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319469 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705935 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705935 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580516 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580516 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551337.04022598 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551337.62292719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.440ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_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 + 5.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551337.04022598 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551337.62292719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.440ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_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 + 5.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551337.04022598 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551337.62292719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.440ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_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 + 5.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323388 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775814 ms (missed cycles : 3).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766315 ms (missed cycles : 5).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551337.04022598 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551337.62292719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.440ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014821 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262116 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_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 + 5.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536530 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 40 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551376.08599281 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551376.66231370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.273ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2).[0m ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 40 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551376.08599281 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551376.66231370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.273ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2).[0m ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 40 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356344 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825657 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440562 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551376.08599281 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551376.66231370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.273ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629291 ms (missed cycles : 3).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143636 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120967 ms (missed cycles : 2).[0m ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 24 warnings · 329 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.28sINFObehavior_serverActivating + 0.28sINFObehavior_serverActivating spin + 0.28sINFObehavior_serverActivating backup + 0.28sINFObehavior_serverActivating drive_on_heading + 0.28sINFObehavior_serverActivating assisted_teleop + 0.28sINFObehavior_serverActivating wait + 0.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.38sINFObt_navigatorActivating + 0.45sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.55sINFOwaypoint_followerActivating + 0.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.65sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.65sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.65sINFOvelocity_smootherActivating + 0.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.76sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 2.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 4.96sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551510.79286504 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2).[0m ×2 + 3.39sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551511.37563014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 24 warnings · 329 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.28sINFObehavior_serverActivating + 0.28sINFObehavior_serverActivating spin + 0.28sINFObehavior_serverActivating backup + 0.28sINFObehavior_serverActivating drive_on_heading + 0.28sINFObehavior_serverActivating assisted_teleop + 0.28sINFObehavior_serverActivating wait + 0.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.38sINFObt_navigatorActivating + 0.45sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.55sINFOwaypoint_followerActivating + 0.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.65sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.65sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.65sINFOvelocity_smootherActivating + 0.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.76sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 2.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 4.96sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551510.79286504 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2).[0m ×2 + 3.39sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551511.37563014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551510.79286504 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2).[0m ×2 + 3.39sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551511.37563014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551510.79286504 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2).[0m ×2 + 3.39sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551511.37563014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551510.79286504 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2).[0m ×2 + 3.39sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551511.37563014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551510.79286504 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2).[0m ×2 + 3.39sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551511.37563014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559099 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906980 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270371 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551510.79286504 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112317 ms (missed cycles : 2).[0m ×2 + 3.39sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551511.37563014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246146 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542327 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113061 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 25 warnings · 119 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559077 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559077 ms (missed cycles : 3).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.237ms + 0.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.017ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753425 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753425 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.622ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528718 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528718 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.760ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551584.52048635 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041043 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041043 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551585.12575221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.407ms + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551585.65587711 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331029 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331029 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551586.22644162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919081 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919081 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551586.78656340 seconds ×3 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980709 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980709 ms (missed cycles : 3).[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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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/objectives7 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 320 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 1.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.97sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 4.41sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 4.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 27 warnings · 335 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.28sINFObehavior_serverActivating + 0.28sINFObehavior_serverActivating spin + 0.28sINFObehavior_serverActivating backup + 0.28sINFObehavior_serverActivating drive_on_heading + 0.28sINFObehavior_serverActivating assisted_teleop + 0.28sINFObehavior_serverActivating wait + 0.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.38sINFObt_navigatorActivating + 0.45sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.55sINFOwaypoint_followerActivating + 0.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.65sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.65sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.65sINFOvelocity_smootherActivating + 0.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.76sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 2.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 4.96sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 29 warnings · 329 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 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227094 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227094 ms (missed cycles : 2).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.75sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.85sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.85sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.85sINFObehavior_serverActivating + 0.85sINFObehavior_serverActivating spin + 0.85sINFObehavior_serverActivating backup + 0.85sINFObehavior_serverActivating drive_on_heading + 0.85sINFObehavior_serverActivating assisted_teleop + 0.85sINFObehavior_serverActivating wait + 0.85sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.95sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.95sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.96sINFObt_navigatorActivating + 1.02sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.12sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.12sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.12sINFOwaypoint_followerActivating + 1.12sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.23sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.23sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.23sINFOvelocity_smootherActivating + 1.23sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.33sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.33sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.33sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 2.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 3.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.62sINFOobjective_server_nodecaller: ×10 + 3.62sINFOobjective_server_nodetype: 0 ×10 + 3.62sINFOobjective_server_nodename: "" ×10 + 3.62sINFOobjective_server_nodeinstance_id: "" ×10 + 3.62sINFOobjective_server_node ×10 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.66sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 5.53sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_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 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_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 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 7.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 29 warnings · 326 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 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227094 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227094 ms (missed cycles : 2).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.75sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.85sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.85sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.85sINFObehavior_serverActivating + 0.85sINFObehavior_serverActivating spin + 0.85sINFObehavior_serverActivating backup + 0.85sINFObehavior_serverActivating drive_on_heading + 0.85sINFObehavior_serverActivating assisted_teleop + 0.85sINFObehavior_serverActivating wait + 0.85sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.95sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.95sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.96sINFObt_navigatorActivating + 1.02sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.12sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.12sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.12sINFOwaypoint_followerActivating + 1.12sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.23sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.23sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.23sINFOvelocity_smootherActivating + 1.23sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.33sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.33sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.33sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 2.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 3.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.62sINFOobjective_server_nodecaller: ×10 + 3.62sINFOobjective_server_nodetype: 0 ×10 + 3.62sINFOobjective_server_nodename: "" ×10 + 3.62sINFOobjective_server_nodeinstance_id: "" ×10 + 3.62sINFOobjective_server_node ×10 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.66sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 5.53sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_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 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_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 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 329 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.28sINFObehavior_serverActivating + 0.28sINFObehavior_serverActivating spin + 0.28sINFObehavior_serverActivating backup + 0.28sINFObehavior_serverActivating drive_on_heading + 0.28sINFObehavior_serverActivating assisted_teleop + 0.28sINFObehavior_serverActivating wait + 0.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.38sINFObt_navigatorActivating + 0.45sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.55sINFOwaypoint_followerActivating + 0.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.65sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.65sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.65sINFOvelocity_smootherActivating + 0.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.76sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 2.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 4.96sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 329 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.28sINFObehavior_serverActivating + 0.28sINFObehavior_serverActivating spin + 0.28sINFObehavior_serverActivating backup + 0.28sINFObehavior_serverActivating drive_on_heading + 0.28sINFObehavior_serverActivating assisted_teleop + 0.28sINFObehavior_serverActivating wait + 0.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.38sINFObt_navigatorActivating + 0.45sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.55sINFOwaypoint_followerActivating + 0.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.65sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.65sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.65sINFOvelocity_smootherActivating + 0.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.76sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 2.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 4.96sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 329 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.28sINFObehavior_serverActivating + 0.28sINFObehavior_serverActivating spin + 0.28sINFObehavior_serverActivating backup + 0.28sINFObehavior_serverActivating drive_on_heading + 0.28sINFObehavior_serverActivating assisted_teleop + 0.28sINFObehavior_serverActivating wait + 0.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.38sINFObt_navigatorActivating + 0.45sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.55sINFOwaypoint_followerActivating + 0.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.65sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.65sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.65sINFOvelocity_smootherActivating + 0.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.76sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 2.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.05sINFOobjective_server_nodecaller: ×10 + 3.05sINFOobjective_server_nodetype: 0 ×10 + 3.05sINFOobjective_server_nodename: "" ×10 + 3.05sINFOobjective_server_nodeinstance_id: "" ×10 + 3.05sINFOobjective_server_node ×10 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 4.96sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 320 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975737 ms (missed cycles : 4).[0m ×2 + 1.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.97sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 4.41sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 4.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380698 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380698 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 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 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153444 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485798 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551228.08874083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551228.09894490 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551228.68057036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551228.69068241 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375784 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551229.26153684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551229.41215014 seconds ×3 + 3.07sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551230.00068855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551230.05082226 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184175 ms (missed cycles : 2).[0m ×2 + 3.63sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551230.63044524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984346 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139189 ms (missed cycles : 2).[0m ×2 | ||||