73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.7s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.1s | 65 errors · 1077 warnings · 2579 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-17-22-27-907118-4fa0f1f55719-7573 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 4.48sINFOros2_control_node-12process started with pid [7715] + 4.48sINFOmove_group-24process started with pid [7729] + 4.48sINFOparameter_manager_node-25process started with pid [7756] + 4.48sINFOwaypoint_manager_node-26process started with pid [7757] + 4.48sINFOmove_joint_resampler_node-27process started with pid [7759] + 4.48sINFOmove_end_effector_resampler_node-28process started with pid [7760] + 4.48sINFOobjective_server_node_main-29process started with pid [7761] + 4.48sINFOcomponent_container_mt-30process started with pid [7762] + 4.48sINFOcomponent_container_mt-31process started with pid [7763] + 4.48sINFOexecute_objective_bridge-32process started with pid [7764] + 4.48sINFOui_teleop_bridge-33process started with pid [7767] + 4.48sINFOweb_bridge-34process started with pid [7775] + 4.48sINFOtf2_web_republisher_node-35process started with pid [7776] + 4.48sINFOvideo_server-36process started with pid [7792] + 4.48sINFOweb_bridge_auth_proxy-37process started with pid [7793] + 4.48sINFOweb_video_auth_proxy-38process started with pid [7796] + 4.48sINFOcomponent_container_isolated-1process started with pid [7623] + 4.48sINFOcomponent_container_isolated-2process started with pid [7624] + 4.49sINFOstatic_transform_publisher-3process started with pid [7625] + 4.49sINFOstatic_transform_publisher-4process started with pid [7626] + 4.49sINFOodom_qos_relay.py-5process started with pid [7627] + 4.49sINFOforward_stereo_publisher.py-6process started with pid [7628] + 4.49sINFOlidar_flattener.py-7process started with pid [7629] + 4.49sINFOstatic_transform_publisher-8process started with pid [7630] + 4.49sINFOstatic_transform_publisher-9process started with pid [7631] + 4.49sINFOscan_to_scan_filter_chain-10process started with pid [7713] + 4.49sINFOscan_to_scan_filter_chain-11process started with pid [7714] + 4.49sINFOros2-13process started with pid [7716] + 4.49sINFOros2-14process started with pid [7717] + 4.49sINFOros2-15process started with pid [7718] + 4.50sINFOros2-16process started with pid [7719] + 4.50sINFOros2-17process started with pid [7720] + 4.50sINFOros2-18process started with pid [7721] + 4.50sINFOros2-19process started with pid [7722] + 4.50sINFOros2-20process started with pid [7723] + 4.50sINFOros2-21process started with pid [7724] + 4.50sINFOros2-22process started with pid [7725] + 4.50sINFOros2-23process started with pid [7728] + 4.55sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 4.55sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 4.55sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 4.55sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 4.55sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 4.56sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 4.56sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 4.56sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 4.56sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 4.56sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 4.56sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 4.56sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 4.58sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 4.60sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 4.61sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 4.61sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 4.61sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 4.61sWARNros2_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 ×3 + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 4.70sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 4.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 4.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 4.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 4.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 4.87sINFOcomponent_container_mtRobot initialized[0m ×3 + 4.87sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 4.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 4.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 4.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 4.91sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 4.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 4.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983050 ms (missed cycles : 2).[0m + 5.03sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.05sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.08sINFOvideo_server2026/09/04 17:22:34 INF MediaMTX v1.20.1, linux, amd64 + 5.08sINFOvideo_server2026/09/04 17:22:34 INF configuration loaded from /tmp/moveit-webrtc-5i4higi8/mediamtx.yml + 5.08sINFOvideo_server2026/09/04 17:22:34 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.08sINFOvideo_server2026/09/04 17:22:34 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.24sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.29sINFOmove_groupLoaded robot model in 0.320051 seconds[0m + 5.29sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.29sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.41sWARNscan_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 ×6 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.96sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.02sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.02sWARNmove_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 ×3 + 6.02sWARNmove_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 ×3 + 6.02sWARNmove_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 ×3 + 6.02sWARNmove_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 ×3 + 6.02sWARNmove_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 ×3 + 6.02sWARNmove_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 ×3 + 6.02sWARNmove_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 ×3 + 6.02sWARNmove_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 ×3 + 6.02sWARNmove_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 ×3 + 6.02sWARNmove_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 ×3 + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.415343 ms (missed cycles : 7).[0m + 6.25sINFOmove_group[2026-09-04 17:22:35.826] [moveit_pro_license] [info] + 6.25sINFOmove_group************************************************* ×6 + 6.25sINFOmove_group* MoveIt Pro License ×3 + 6.25sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 6.33sINFOwaypoint_manager_nodeLoaded robot model in 0.281205 seconds[0m + 6.33sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.33sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.38sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.38sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 6.42sINFOros2_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 ×3 + 6.42sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 6.75sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 6.75sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 6.75sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 6.76sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 6.76sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 6.76sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 6.77sINFOmove_groupStarting planning scene monitor[0m ×3 + 6.77sINFOmove_groupListening to '/planning_scene'[0m ×3 + 6.77sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 6.78sINFOmove_groupListening to 'collision_object'[0m ×3 + 6.78sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.81sWARNwaypoint_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 ×3 + 6.81sWARNwaypoint_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 ×3 + 6.81sWARNwaypoint_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 ×3 + 6.81sWARNwaypoint_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 ×3 + 6.81sWARNwaypoint_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 ×3 + 6.81sWARNwaypoint_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 ×3 + 6.82sWARNwaypoint_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 ×3 + 6.82sWARNwaypoint_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 ×3 + 6.82sWARNwaypoint_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 ×3 + 6.82sWARNwaypoint_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 ×3 + 6.82sWARNwaypoint_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 ×3 + 6.82sWARNwaypoint_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 ×3 + 6.83sWARNwaypoint_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 ×3 + 6.83sWARNwaypoint_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 ×3 + 6.83sWARNwaypoint_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 ×3 + 6.83sWARNwaypoint_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 ×3 + 6.83sWARNwaypoint_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 ×3 + 6.83sWARNwaypoint_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 ×3 + 6.83sWARNwaypoint_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 ×3 + 6.83sWARNwaypoint_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 ×3 + 6.84sWARNwaypoint_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 ×3 + 6.84sWARNwaypoint_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 ×3 + 6.84sWARNwaypoint_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 ×3 + 6.84sWARNwaypoint_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 ×3 + 7.06sINFOwaypoint_manager_node[2026-09-04 17:22:36.633] [moveit_pro_license] [info] + 7.06sINFOwaypoint_manager_node************************************************* ×6 + 7.06sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.06sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.29sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.29sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.29sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.29sWARNros2_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: ×3 + 7.29sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.29sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.29sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.29sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.29sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.29sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.29sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.29sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.29sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.29sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.29sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.29sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.29sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.29sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.29sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.29sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.29sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.29sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.40sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.40sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.41sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.46sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 7.46sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 7.46sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967042 ms (missed cycles : 2).[0m + 7.53sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 7.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 7.53sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 7.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 7.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 7.55sINFOros2_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 ×3 + 7.55sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 7.55sWARNros2_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 ×3 + 7.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 7.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 7.85sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 7.90sINFOros2-14process has finished cleanly [pid 7717] + 7.91sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 7.91sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 7.92sINFOros2_control_nodeconfigure successful[0m ×9 + 7.92sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 7.93sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 7.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.22sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.22sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 8.23sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 8.23sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.23sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.23sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.23sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.23sINFOcomponent_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 ×3 + 8.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.24sWARNcomponent_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 ×3 + 8.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.25sINFOobjective_server_node[2026-09-04 17:22:37.822] [moveit_pro_license] [info] + 8.25sINFOobjective_server_node************************************************* ×8 + 8.25sINFOobjective_server_node* MoveIt Pro License ×4 + 8.25sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.27sINFOros2-13process has finished cleanly [pid 7716] + 8.32sINFOobjective_server_nodeLoaded robot model in 0.0289968 seconds[0m + 8.32sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.32sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 8.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.46sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 8.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 8.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 8.47sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.50sINFOcomponent_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 ×3 + 8.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.62sINFOcomponent_container_mtLoaded robot model in 0.381001 seconds[0m + 8.62sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.62sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.78sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 8.78sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 8.79sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.79sWARNobjective_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 ×3 + 8.79sWARNobjective_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 ×3 + 8.79sWARNobjective_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 ×3 + 8.79sWARNobjective_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 ×3 + 8.79sWARNobjective_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 ×3 + 8.79sWARNobjective_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 ×3 + 8.79sWARNobjective_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 ×3 + 8.79sWARNobjective_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 ×3 + 8.79sWARNobjective_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 ×3 + 8.79sWARNobjective_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 ×3 + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104256 ms (missed cycles : 2).[0m + 8.83sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 8.83sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 8.83sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 8.83sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 8.83sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 8.84sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 8.84sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 8.87sINFOobjective_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. ×3 + 8.87sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.89sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 8.89sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.89sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.89sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.89sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.89sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.89sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.89sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.95sINFOmove_group ×12 + 8.95sINFOmove_group******************************************************** ×6 + 8.95sINFOmove_group* MoveGroup using: ×3 + 8.95sINFOmove_group* - apply_planning_scene_service ×3 + 8.95sINFOmove_group* - clear_octomap_service ×3 + 8.95sINFOmove_group* - get_group_urdf ×3 + 8.95sINFOmove_group* - load_geometry_from_file ×3 + 8.95sINFOmove_group* - get_planning_scene_service ×3 + 8.95sINFOmove_group* - kinematics_service ×3 + 8.95sINFOmove_group* - save_geometry_to_file ×3 + 8.95sINFOmove_group* - GetPlanningGroups ×3 + 8.95sINFOmove_group* - URDFPlanningSceneCapability ×3 + 8.95sINFOmove_group[0m ×3 + 8.95sINFOmove_group[92mYou can start planning now![0m ×3 + 8.97sINFOros2_control_node[2026-09-04 17:22:38.541] [info] Controller state will be published at 20 Hz. + 8.97sINFOros2_control_node[2026-09-04 17:22:38.543] [info] JointVelocityController 'on_configure' succeeded. + 9.10sWARNcomponent_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 ×3 + 9.10sWARNcomponent_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 ×3 + 9.10sWARNcomponent_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 ×3 + 9.10sWARNcomponent_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 ×3 + 9.10sWARNcomponent_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 ×3 + 9.10sWARNcomponent_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 ×3 + 9.10sWARNcomponent_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 ×3 + 9.10sWARNcomponent_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 ×3 + 9.10sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.11sWARNcomponent_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 ×3 + 9.24sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.29sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 9.29sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 9.31sINFOros2-23process has finished cleanly [pid 7728] + 9.36sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 9.38sINFOcomponent_container_mt[2026-09-04 17:22:38.953] [moveit_pro_license] [info] + 9.38sINFOcomponent_container_mt************************************************* ×6 + 9.38sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.38sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.41sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 9.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 9.47sWARNros2_control_nodeCamera render tick took 0.98 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.50sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.50sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.72sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.72sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 9.80sINFOros2_control_node[2026-09-04 17:22:39.374] [warning] No force/torque sensor configured. The VFC will ignore force references. + 9.80sINFOros2_control_node[2026-09-04 17:22:39.376] [info] Controller state will be published at 10 Hz. + 9.81sINFOros2_control_node[2026-09-04 17:22:39.377] [info] VelocityForceController 'on_configure' succeeded. + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232585 ms (missed cycles : 4).[0m + 9.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 10.11sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 10.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×16 + 10.12sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 10.15sINFOros2-20process has finished cleanly [pid 7723] + 10.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 10.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 10.24sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 10.24sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 10.24sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 10.24sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 10.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 10.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 10.44sWARNobjective_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/. ×3 + 10.50sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 10.50sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 10.50sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 10.53sINFOros2-19process has finished cleanly [pid 7722] + 10.55sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 10.55sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039687 ms (missed cycles : 2).[0m + 10.94sINFOros2_control_node[2026-09-04 17:22:40.507] [warning] No force/torque sensor configured. The VFC will ignore force references. + 10.94sINFOros2_control_node[2026-09-04 17:22:40.509] [info] Controller state will be published at 10 Hz. + 10.94sINFOros2_control_node[2026-09-04 17:22:40.510] [info] VelocityForceController 'on_configure' succeeded. + 11.24sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 11.24sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 11.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 11.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.29sINFOros2-21process has finished cleanly [pid 7724] + 11.29sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 11.30sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 11.66sINFOros2_control_node[2026-09-04 17:22:41.233] [info] Controller state will be published at 20 Hz. + 11.66sINFOros2_control_node[2026-09-04 17:22:41.234] [info] JointVelocityController 'on_configure' succeeded. + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154306 ms (missed cycles : 2).[0m + 11.98sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 11.98sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 11.99sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 12.01sINFOros2-22process has finished cleanly [pid 7725] + 12.04sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 12.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 12.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 12.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 12.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 12.42sINFOros2-18process has finished cleanly [pid 7721] + 12.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 12.45sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 12.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 12.46sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 12.47sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 12.79sINFOros2-15process has finished cleanly [pid 7718] + 12.79sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 12.79sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 12.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 12.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 12.84sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 12.84sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 12.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 12.85sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 12.86sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103546 ms (missed cycles : 2).[0m + 13.18sINFOros2-17process has finished cleanly [pid 7720] + 13.19sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.19sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 13.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gzvyr78f --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_60iiq5w0 --params-file /tmp/launch_params_893p7wm0 [0m + 13.24sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 13.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 13.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 13.26sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 13.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.60sINFOros2-16process has finished cleanly [pid 7719] + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474076 ms (missed cycles : 3).[0m + 14.85sWARNros2_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 ×7 + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435802 ms (missed cycles : 3).[0m + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096746 ms (missed cycles : 4).[0m + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261016 ms (missed cycles : 4).[0m + 17.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×11 + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725186 ms (missed cycles : 2).[0m + 18.50sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.50sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.50sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.50sINFOobjective_server_nodecaller: ×27 + 18.50sINFOobjective_server_nodetype: 0 ×27 + 18.50sINFOobjective_server_nodename: "" ×27 + 18.50sINFOobjective_server_nodeinstance_id: "" ×27 + 18.50sINFOobjective_server_node ×27 + 18.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542568.10471177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 18.54sINFOmove_groupClearing octomap...[0m ×4 + 18.54sINFOmove_groupOctomap cleared.[0m ×4 + 18.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542568.11509037 seconds + 19.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542568.69492912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542568.70504546 seconds + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455201 ms (missed cycles : 4).[0m + 19.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 19.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542569.27081013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542569.42142725 seconds + 19.97sWARNros2_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 ×10 + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735996 ms (missed cycles : 4).[0m + 20.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542570.01229811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 20.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 20.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542570.06243730 seconds + 20.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 21.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542570.63548470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 21.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817397 ms (missed cycles : 4).[0m + 22.13sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.41sINFOros2_control_nodeReceived new action goal[0m ×18 + 22.41sINFOros2_control_nodeAccepted new action goal[0m ×18 + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742154 ms (missed cycles : 3).[0m + 23.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115365 ms (missed cycles : 2).[0m + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264717 ms (missed cycles : 2).[0m + 25.52sWARNros2_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 ×5 + 25.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940531 ms (missed cycles : 2).[0m + 26.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×9 + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135809 ms (missed cycles : 3).[0m + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078486 ms (missed cycles : 2).[0m + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644631 ms (missed cycles : 2).[0m + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978208 ms (missed cycles : 2).[0m + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565009 ms (missed cycles : 3).[0m + 31.59sWARNros2_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 ×3 + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813160 ms (missed cycles : 3).[0m + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987565 ms (missed cycles : 2).[0m + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785645 ms (missed cycles : 3).[0m + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772550 ms (missed cycles : 2).[0m + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941668 ms (missed cycles : 2).[0m + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661681 ms (missed cycles : 3).[0m + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882558 ms (missed cycles : 3).[0m + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621959 ms (missed cycles : 3).[0m + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789479 ms (missed cycles : 2).[0m + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817816 ms (missed cycles : 3).[0m + 42.05sWARNros2_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 + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698147 ms (missed cycles : 2).[0m + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687465 ms (missed cycles : 3).[0m + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763067 ms (missed cycles : 3).[0m + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466095 ms (missed cycles : 3).[0m + 46.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265652 ms (missed cycles : 2).[0m + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251239 ms (missed cycles : 2).[0m + 48.20sWARNros2_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 ×7 + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862836 ms (missed cycles : 2).[0m + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657222 ms (missed cycles : 2).[0m + 50.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634248 ms (missed cycles : 3).[0m + 51.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933914 ms (missed cycles : 2).[0m + 53.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667259 ms (missed cycles : 3).[0m + 54.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883492 ms (missed cycles : 2).[0m + 55.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210987 ms (missed cycles : 2).[0m + 56.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750332 ms (missed cycles : 3).[0m + 57.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539198 ms (missed cycles : 3).[0m + 58.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481879 ms (missed cycles : 3).[0m + 59.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806808 ms (missed cycles : 3).[0m + 60.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095584 ms (missed cycles : 2).[0m + 61.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625332 ms (missed cycles : 3).[0m + 62.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810061 ms (missed cycles : 3).[0m + 63.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338886 ms (missed cycles : 3).[0m + 64.04sINFOros2_control_nodeGoal reached, success![0m ×16 + 64.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788542613.64208150 seconds + 64.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.61sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 64.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788542614.21487474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 64.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087946 ms (missed cycles : 5).[0m + 65.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706905 ms (missed cycles : 2).[0m + 65.71sINFOobjective_server_nodeFound path in 0 iterations (2.2463e-05 s). + 65.77sINFOobjective_server_nodePath shortcutter: [X_______________________X] + 65.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 66.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138752 ms (missed cycles : 2).[0m + 67.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196790 ms (missed cycles : 2).[0m + 68.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742378 ms (missed cycles : 3).[0m + 69.48sWARNros2_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 ×5 + 70.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962183 ms (missed cycles : 2).[0m + 70.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788542619.72501516 seconds + 70.69sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 70.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788542620.31271744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.15sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 71.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358974 ms (missed cycles : 3).[0m + 72.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225293 ms (missed cycles : 4).[0m + 73.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512172 ms (missed cycles : 3).[0m + 73.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×6 + 74.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783637 ms (missed cycles : 2).[0m + 75.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798614 ms (missed cycles : 2).[0m + 76.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339847 ms (missed cycles : 3).[0m + 77.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108015 ms (missed cycles : 2).[0m + 78.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869236 ms (missed cycles : 5).[0m + 79.01sWARNros2_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 ×11 + 79.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207153 ms (missed cycles : 2).[0m + 80.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934667 ms (missed cycles : 3).[0m + 81.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912713 ms (missed cycles : 3).[0m + 83.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222752 ms (missed cycles : 3).[0m + 84.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020672 ms (missed cycles : 5).[0m + 84.90sWARNros2_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 ×10 + 85.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370379 ms (missed cycles : 2).[0m + 86.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807212 ms (missed cycles : 2).[0m + 87.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282208 ms (missed cycles : 3).[0m + 88.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365197 ms (missed cycles : 3).[0m + 89.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694853 ms (missed cycles : 2).[0m + 89.74sWARNros2_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 ×10 + 90.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×13 + 90.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944304 ms (missed cycles : 3).[0m + 91.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961945 ms (missed cycles : 3).[0m + 92.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489508 ms (missed cycles : 2).[0m + 93.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728533 ms (missed cycles : 2).[0m + 94.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652393 ms (missed cycles : 4).[0m + 95.19sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×12 + 95.85sWARNros2_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 ×9 + 95.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401032 ms (missed cycles : 3).[0m + 96.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261956 ms (missed cycles : 4).[0m + 97.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851053 ms (missed cycles : 3).[0m + 99.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751336 ms (missed cycles : 4).[0m +100.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635591 ms (missed cycles : 3).[0m +100.73sWARNros2_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 ×12 +101.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907049 ms (missed cycles : 3).[0m +101.40sWARNros2_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 ×5 +101.81sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +102.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169132 ms (missed cycles : 2).[0m +103.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172650 ms (missed cycles : 5).[0m +104.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882334 ms (missed cycles : 3).[0m +105.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706078 ms (missed cycles : 2).[0m +106.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999735 ms (missed cycles : 3).[0m +107.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916747 ms (missed cycles : 2).[0m +108.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543633 ms (missed cycles : 3).[0m +109.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856822 ms (missed cycles : 2).[0m +110.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163087 ms (missed cycles : 3).[0m +111.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098338 ms (missed cycles : 3).[0m +112.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867018 ms (missed cycles : 3).[0m +113.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902863 ms (missed cycles : 2).[0m +114.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448427 ms (missed cycles : 4).[0m +115.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110694 ms (missed cycles : 2).[0m +117.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919999 ms (missed cycles : 3).[0m +118.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048031 ms (missed cycles : 2).[0m +119.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511432 ms (missed cycles : 3).[0m +120.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516883 ms (missed cycles : 2).[0m +121.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589937 ms (missed cycles : 3).[0m +122.29sWARNros2_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 ×12 +122.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757766 ms (missed cycles : 2).[0m +123.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476986 ms (missed cycles : 3).[0m +124.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316454 ms (missed cycles : 2).[0m +125.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791977 ms (missed cycles : 3).[0m +126.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410365 ms (missed cycles : 5).[0m +127.41sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788542676.98286295 seconds +127.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670367 ms (missed cycles : 3).[0m +127.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" +128.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788542677.56802893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +128.37sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). +128.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 +128.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514338 ms (missed cycles : 4).[0m +128.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×5 +129.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023295 ms (missed cycles : 3).[0m +131.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546547 ms (missed cycles : 2).[0m +132.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982204 ms (missed cycles : 5).[0m +133.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885187 ms (missed cycles : 3).[0m +133.78sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788542683.34816647 seconds +134.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763767 ms (missed cycles : 3).[0m +135.32sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" +135.35sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788542684.92362404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +135.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726483 ms (missed cycles : 3).[0m +135.75sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). +136.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421488 ms (missed cycles : 3).[0m +137.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619805 ms (missed cycles : 3).[0m +138.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662934 ms (missed cycles : 3).[0m +139.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683000 ms (missed cycles : 3).[0m +140.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575281 ms (missed cycles : 3).[0m +142.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961723 ms (missed cycles : 3).[0m +143.14sWARNros2_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 ×9 +143.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817760 ms (missed cycles : 3).[0m +144.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950176 ms (missed cycles : 3).[0m +145.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461299 ms (missed cycles : 4).[0m +146.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449312 ms (missed cycles : 2).[0m +147.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672331 ms (missed cycles : 5).[0m +148.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466888 ms (missed cycles : 3).[0m +149.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708286 ms (missed cycles : 2).[0m +151.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001947 ms (missed cycles : 3).[0m +152.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061069 ms (missed cycles : 2).[0m +153.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954592 ms (missed cycles : 2).[0m +154.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313516 ms (missed cycles : 2).[0m +155.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776241 ms (missed cycles : 2).[0m +156.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542439 ms (missed cycles : 3).[0m +157.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480314 ms (missed cycles : 3).[0m +158.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184681 ms (missed cycles : 4).[0m +159.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274878 ms (missed cycles : 2).[0m +160.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189629 ms (missed cycles : 2).[0m +161.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487039 ms (missed cycles : 3).[0m +162.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125146 ms (missed cycles : 3).[0m +163.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792916 ms (missed cycles : 3).[0m +164.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823211 ms (missed cycles : 4).[0m +165.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528248 ms (missed cycles : 2).[0m +166.37sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788542715.94376016 seconds +166.92sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" +166.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788542716.52584529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +167.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049628 ms (missed cycles : 3).[0m +167.38sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). +168.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024030 ms (missed cycles : 2).[0m +169.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113428 ms (missed cycles : 4).[0m +170.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079418 ms (missed cycles : 2).[0m +171.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139358 ms (missed cycles : 2).[0m +172.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006729 ms (missed cycles : 5).[0m +173.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340624 ms (missed cycles : 3).[0m +174.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869413 ms (missed cycles : 3).[0m +176.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659025 ms (missed cycles : 3).[0m +177.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333643 ms (missed cycles : 2).[0m +178.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906440 ms (missed cycles : 2).[0m +179.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021383 ms (missed cycles : 4).[0m +180.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063812 ms (missed cycles : 2).[0m +181.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178289 ms (missed cycles : 4).[0m +182.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189569 ms (missed cycles : 2).[0m +183.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319125 ms (missed cycles : 3).[0m +184.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941619 ms (missed cycles : 3).[0m +185.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338222 ms (missed cycles : 3).[0m +186.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907709 ms (missed cycles : 2).[0m +187.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363026 ms (missed cycles : 4).[0m +189.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179998 ms (missed cycles : 2).[0m +190.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630325 ms (missed cycles : 3).[0m +191.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595507 ms (missed cycles : 3).[0m +192.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715345 ms (missed cycles : 2).[0m +193.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167819 ms (missed cycles : 3).[0m +194.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554890 ms (missed cycles : 3).[0m +195.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463308 ms (missed cycles : 4).[0m +196.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814140 ms (missed cycles : 3).[0m +197.05sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +197.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978291 ms (missed cycles : 2).[0m +197.72sWARNros2_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 ×12 +198.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682028 ms (missed cycles : 2).[0m +199.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582316 ms (missed cycles : 4).[0m +200.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.438190 ms (missed cycles : 4).[0m +201.19sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +201.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231430 ms (missed cycles : 4).[0m +201.91sINFOobjective_server_nodePlanning for 27 path waypoints. +202.26sWARNros2_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 +202.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729804 ms (missed cycles : 3).[0m +203.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509114 ms (missed cycles : 3).[0m +204.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464300 ms (missed cycles : 3).[0m +205.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761325 ms (missed cycles : 3).[0m +206.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353767 ms (missed cycles : 2).[0m +207.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492203 ms (missed cycles : 4).[0m +209.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078571 ms (missed cycles : 3).[0m +210.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158267 ms (missed cycles : 5).[0m +211.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440866 ms (missed cycles : 4).[0m +212.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481863 ms (missed cycles : 3).[0m +213.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721193 ms (missed cycles : 3).[0m +214.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281188 ms (missed cycles : 2).[0m +215.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750821 ms (missed cycles : 3).[0m +216.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616948 ms (missed cycles : 3).[0m +217.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652698 ms (missed cycles : 4).[0m +218.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610850 ms (missed cycles : 4).[0m +219.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251463 ms (missed cycles : 2).[0m +220.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709309 ms (missed cycles : 4).[0m +221.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.286441 ms (missed cycles : 6).[0m +222.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711777 ms (missed cycles : 2).[0m +223.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916163 ms (missed cycles : 2).[0m +224.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249757 ms (missed cycles : 2).[0m +226.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840949 ms (missed cycles : 5).[0m +227.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862702 ms (missed cycles : 2).[0m +228.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941921 ms (missed cycles : 2).[0m +229.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759532 ms (missed cycles : 3).[0m +230.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311295 ms (missed cycles : 4).[0m +231.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586623 ms (missed cycles : 2).[0m +232.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580729 ms (missed cycles : 3).[0m +233.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928971 ms (missed cycles : 2).[0m +234.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596459 ms (missed cycles : 4).[0m +235.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226864 ms (missed cycles : 2).[0m +236.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762728 ms (missed cycles : 4).[0m +237.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411380 ms (missed cycles : 5).[0m +238.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316982 ms (missed cycles : 3).[0m +239.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487770 ms (missed cycles : 3).[0m +241.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690721 ms (missed cycles : 3).[0m +242.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190616 ms (missed cycles : 2).[0m +243.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085331 ms (missed cycles : 4).[0m +244.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264999 ms (missed cycles : 2).[0m +245.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931058 ms (missed cycles : 2).[0m +246.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931016 ms (missed cycles : 3).[0m +247.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838769 ms (missed cycles : 2).[0m +248.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727963 ms (missed cycles : 2).[0m +249.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989638 ms (missed cycles : 2).[0m +250.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961478 ms (missed cycles : 2).[0m +251.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261844 ms (missed cycles : 4).[0m +252.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368734 ms (missed cycles : 3).[0m +254.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659012 ms (missed cycles : 3).[0m +255.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762642 ms (missed cycles : 3).[0m +256.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459992 ms (missed cycles : 2).[0m +257.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077951 ms (missed cycles : 4).[0m +258.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473990 ms (missed cycles : 4).[0m +259.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988239 ms (missed cycles : 3).[0m +260.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319457 ms (missed cycles : 4).[0m +261.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171297 ms (missed cycles : 2).[0m +262.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954768 ms (missed cycles : 2).[0m +263.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657581 ms (missed cycles : 3).[0m +264.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263869 ms (missed cycles : 3).[0m +265.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034785 ms (missed cycles : 3).[0m +266.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466561 ms (missed cycles : 3).[0m +267.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065328 ms (missed cycles : 2).[0m +269.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814102 ms (missed cycles : 4).[0m +270.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688785 ms (missed cycles : 3).[0m +271.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605733 ms (missed cycles : 3).[0m +272.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771059 ms (missed cycles : 2).[0m +273.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575701 ms (missed cycles : 4).[0m +274.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.799981 ms (missed cycles : 6).[0m +275.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620089 ms (missed cycles : 3).[0m +276.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158353 ms (missed cycles : 2).[0m +277.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956134 ms (missed cycles : 3).[0m +278.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297800 ms (missed cycles : 4).[0m +279.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921005 ms (missed cycles : 3).[0m +280.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213371 ms (missed cycles : 2).[0m +281.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576613 ms (missed cycles : 5).[0m +282.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668493 ms (missed cycles : 3).[0m +283.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885028 ms (missed cycles : 3).[0m +284.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735086 ms (missed cycles : 3).[0m +285.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214692 ms (missed cycles : 2).[0m +286.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681204 ms (missed cycles : 2).[0m +288.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651457 ms (missed cycles : 4).[0m +289.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395261 ms (missed cycles : 3).[0m +290.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901728 ms (missed cycles : 2).[0m +291.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179409 ms (missed cycles : 4).[0m +292.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535905 ms (missed cycles : 3).[0m +293.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806113 ms (missed cycles : 2).[0m +294.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595883 ms (missed cycles : 2).[0m +295.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314677 ms (missed cycles : 2).[0m +296.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162277 ms (missed cycles : 2).[0m +297.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435364 ms (missed cycles : 4).[0m +298.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435230 ms (missed cycles : 2).[0m +299.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488295 ms (missed cycles : 3).[0m +300.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834063 ms (missed cycles : 3).[0m +302.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112341 ms (missed cycles : 4).[0m +303.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935879 ms (missed cycles : 3).[0m +304.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678760 ms (missed cycles : 4).[0m +305.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039247 ms (missed cycles : 3).[0m +306.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974992 ms (missed cycles : 3).[0m +307.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617508 ms (missed cycles : 6).[0m +308.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554168 ms (missed cycles : 4).[0m +309.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670875 ms (missed cycles : 2).[0m +310.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784251 ms (missed cycles : 3).[0m +311.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467499 ms (missed cycles : 3).[0m +313.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803466 ms (missed cycles : 3).[0m +314.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209808 ms (missed cycles : 2).[0m +315.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466245 ms (missed cycles : 5).[0m +316.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893739 ms (missed cycles : 2).[0m +317.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.389289 ms (missed cycles : 5).[0m +318.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345263 ms (missed cycles : 3).[0m +319.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136236 ms (missed cycles : 4).[0m +320.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.677413 ms (missed cycles : 6).[0m +321.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985502 ms (missed cycles : 2).[0m +322.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.054135 ms (missed cycles : 6).[0m +323.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438520 ms (missed cycles : 2).[0m +324.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578733 ms (missed cycles : 5).[0m +325.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242107 ms (missed cycles : 2).[0m +327.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021899 ms (missed cycles : 2).[0m +328.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021978 ms (missed cycles : 2).[0m +329.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815605 ms (missed cycles : 3).[0m +330.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046103 ms (missed cycles : 3).[0m +331.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656517 ms (missed cycles : 4).[0m +332.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725374 ms (missed cycles : 4).[0m +333.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778164 ms (missed cycles : 2).[0m +334.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573608 ms (missed cycles : 4).[0m +335.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657874 ms (missed cycles : 3).[0m +336.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039820 ms (missed cycles : 2).[0m +337.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494204 ms (missed cycles : 3).[0m +339.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596503 ms (missed cycles : 4).[0m +340.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873687 ms (missed cycles : 3).[0m +341.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871258 ms (missed cycles : 2).[0m +342.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785556 ms (missed cycles : 2).[0m +343.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563763 ms (missed cycles : 6).[0m +344.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711873 ms (missed cycles : 4).[0m +345.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877414 ms (missed cycles : 5).[0m +346.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970273 ms (missed cycles : 3).[0m +347.02sERRORobjective_server_nodeExecuteTrajectory Error: Controller at action server '/joint_trajectory_controller/follow_joint_trajectory' aborted sub-trajectory 0: Invalid goal: Current goal cancelled during deactivate transition. +347.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1788542896.59619665 seconds +347.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461931 ms (missed cycles : 4).[0m +347.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" +347.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788542897.15608454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +348.00sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). +348.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014493 ms (missed cycles : 5).[0m +349.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018857 ms (missed cycles : 3).[0m +350.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979925 ms (missed cycles : 3).[0m +351.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959734 ms (missed cycles : 3).[0m +352.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772352 ms (missed cycles : 2).[0m +354.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797389 ms (missed cycles : 2).[0m +355.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496549 ms (missed cycles : 3).[0m +356.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461369 ms (missed cycles : 2).[0m +357.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458949 ms (missed cycles : 3).[0m +357.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +357.89sINFOros2_control_nodeGot request to cancel goal[0m +357.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +357.92sERRORobjective_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: 1788542907.48795676 seconds +358.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" +358.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788542908.06851149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +358.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316886 ms (missed cycles : 2).[0m +358.91sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). +359.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675771 ms (missed cycles : 2).[0m +360.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031551 ms (missed cycles : 5).[0m +362.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014100 ms (missed cycles : 4).[0m +363.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622968 ms (missed cycles : 4).[0m +364.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775753 ms (missed cycles : 3).[0m +365.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607797 ms (missed cycles : 3).[0m +366.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495814 ms (missed cycles : 3).[0m +367.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583609 ms (missed cycles : 3).[0m +368.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510834 ms (missed cycles : 2).[0m +369.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145540 ms (missed cycles : 3).[0m +370.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466294 ms (missed cycles : 3).[0m +371.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816136 ms (missed cycles : 4).[0m +372.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205793 ms (missed cycles : 2).[0m +373.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020934 ms (missed cycles : 3).[0m +374.47sWARNros2_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 +374.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140236 ms (missed cycles : 4).[0m +375.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106866 ms (missed cycles : 2).[0m +376.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520778 ms (missed cycles : 3).[0m +377.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802162 ms (missed cycles : 2).[0m +378.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152593 ms (missed cycles : 3).[0m +380.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235278 ms (missed cycles : 4).[0m +381.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709557 ms (missed cycles : 2).[0m +382.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752110 ms (missed cycles : 4).[0m +383.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296222 ms (missed cycles : 2).[0m +384.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829612 ms (missed cycles : 4).[0m +385.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443518 ms (missed cycles : 3).[0m +386.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746875 ms (missed cycles : 3).[0m +387.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045498 ms (missed cycles : 3).[0m +389.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700686 ms (missed cycles : 5).[0m +390.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611038 ms (missed cycles : 2).[0m +391.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331028 ms (missed cycles : 3).[0m +391.16sINFOobjective_server_nodePlanning for 15 path waypoints. ×2 +392.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652822 ms (missed cycles : 4).[0m +393.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472691 ms (missed cycles : 3).[0m +394.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047849 ms (missed cycles : 2).[0m +395.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130841 ms (missed cycles : 4).[0m +396.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471748 ms (missed cycles : 4).[0m +397.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458442 ms (missed cycles : 2).[0m +398.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417656 ms (missed cycles : 3).[0m +399.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726561 ms (missed cycles : 2).[0m +400.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257567 ms (missed cycles : 4).[0m +401.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258326 ms (missed cycles : 3).[0m +402.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298278 ms (missed cycles : 2).[0m +403.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624593 ms (missed cycles : 5).[0m +404.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189272 ms (missed cycles : 4).[0m +406.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058332 ms (missed cycles : 3).[0m +407.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891259 ms (missed cycles : 2).[0m +408.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158880 ms (missed cycles : 3).[0m +408.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.69 s); lidar_front (0.69 s); lidar_rear (0.69 s); wrist_camera (0.69 s). The render path has stopped producing new frames for them.[0m +409.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717852 ms (missed cycles : 3).[0m +410.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106681 ms (missed cycles : 3).[0m +411.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110185 ms (missed cycles : 3).[0m +412.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372618 ms (missed cycles : 4).[0m +413.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504660 ms (missed cycles : 2).[0m +414.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597496 ms (missed cycles : 3).[0m +414.48sINFOobjective_server_nodePlanning for 17 path waypoints. +415.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377965 ms (missed cycles : 3).[0m +416.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.181877 ms (missed cycles : 5).[0m +417.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719786 ms (missed cycles : 3).[0m +418.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812896 ms (missed cycles : 2).[0m +419.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665178 ms (missed cycles : 2).[0m +420.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115527 ms (missed cycles : 2).[0m +421.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119459 ms (missed cycles : 3).[0m +422.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.044632 ms (missed cycles : 5).[0m +423.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320636 ms (missed cycles : 2).[0m +424.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788542973.57867146 seconds +424.55sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" +424.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788542974.15538716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +425.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820362 ms (missed cycles : 3).[0m +426.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699275 ms (missed cycles : 2).[0m +427.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496554 ms (missed cycles : 3).[0m +428.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m +429.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290250 ms (missed cycles : 2).[0m +430.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044306 ms (missed cycles : 4).[0m +430.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542980.04553151 seconds +431.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" +431.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542980.62811899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +431.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874789 ms (missed cycles : 4).[0m +431.47sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). +432.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653650 ms (missed cycles : 3).[0m +433.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905097 ms (missed cycles : 3).[0m +434.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826428 ms (missed cycles : 2).[0m +435.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874385 ms (missed cycles : 2).[0m +436.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357535 ms (missed cycles : 2).[0m +437.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846126 ms (missed cycles : 3).[0m +439.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577794 ms (missed cycles : 3).[0m +440.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814918 ms (missed cycles : 4).[0m +441.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864920 ms (missed cycles : 2).[0m +442.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298120 ms (missed cycles : 2).[0m +443.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871076 ms (missed cycles : 3).[0m +444.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426818 ms (missed cycles : 3).[0m +445.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880599 ms (missed cycles : 2).[0m +446.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964948 ms (missed cycles : 3).[0m +447.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894426 ms (missed cycles : 6).[0m +448.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322399 ms (missed cycles : 4).[0m +449.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428787 ms (missed cycles : 3).[0m +450.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093323 ms (missed cycles : 3).[0m +451.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081584 ms (missed cycles : 2).[0m +452.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399262 ms (missed cycles : 3).[0m +453.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818026 ms (missed cycles : 2).[0m +455.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161442 ms (missed cycles : 2).[0m +456.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339677 ms (missed cycles : 3).[0m +457.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558754 ms (missed cycles : 5).[0m +458.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761231 ms (missed cycles : 2).[0m +459.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862328 ms (missed cycles : 5).[0m +460.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598520 ms (missed cycles : 3).[0m +461.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712596 ms (missed cycles : 4).[0m +462.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395411 ms (missed cycles : 3).[0m +463.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572526 ms (missed cycles : 5).[0m +464.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250666 ms (missed cycles : 4).[0m +465.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604927 ms (missed cycles : 3).[0m +466.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743741 ms (missed cycles : 2).[0m +467.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918723 ms (missed cycles : 2).[0m +468.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945193 ms (missed cycles : 2).[0m +469.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881679 ms (missed cycles : 4).[0m +470.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851959 ms (missed cycles : 5).[0m +471.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566039 ms (missed cycles : 3).[0m +472.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199317 ms (missed cycles : 3).[0m +474.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037877 ms (missed cycles : 2).[0m +475.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146402 ms (missed cycles : 3).[0m +476.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629509 ms (missed cycles : 3).[0m +477.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310349 ms (missed cycles : 3).[0m +478.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154294 ms (missed cycles : 3).[0m +479.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973753 ms (missed cycles : 3).[0m +480.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996564 ms (missed cycles : 3).[0m +481.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788086 ms (missed cycles : 3).[0m +482.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579453 ms (missed cycles : 2).[0m +483.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918396 ms (missed cycles : 2).[0m +484.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m +484.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168617 ms (missed cycles : 2).[0m +485.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871453 ms (missed cycles : 3).[0m +486.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135946 ms (missed cycles : 3).[0m +487.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788543037.33827186 seconds +487.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207639 ms (missed cycles : 3).[0m +488.31sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" +488.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788543037.93246794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +488.79sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). +488.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438629 ms (missed cycles : 2).[0m +489.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298321 ms (missed cycles : 2).[0m +490.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077602 ms (missed cycles : 2).[0m +492.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217162 ms (missed cycles : 2).[0m +493.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896858 ms (missed cycles : 3).[0m +494.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657600 ms (missed cycles : 3).[0m +494.87sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). +494.91sINFOobjective_server_nodePath shortcutter: [X__________________X] +494.95sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). +495.04sINFOobjective_server_nodePath shortcutter: [X__________________________X] +495.08sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). +495.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925466 ms (missed cycles : 2).[0m +495.19sINFOobjective_server_nodePath shortcutter: [X______________________________X] +495.23sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). +495.59sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +495.65sINFOobjective_server_nodeFound path in 0 iterations (6.16e-07 s). +496.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789194 ms (missed cycles : 3).[0m +496.15sINFOobjective_server_nodeFound path in 33 iterations (0.0434406 s). +496.61sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] +496.70sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). +497.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298404 ms (missed cycles : 3).[0m +497.38sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +497.43sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). +498.01sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +498.25sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +498.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708872 ms (missed cycles : 2).[0m +499.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478343 ms (missed cycles : 2).[0m +500.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848624 ms (missed cycles : 3).[0m +501.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815868 ms (missed cycles : 3).[0m +502.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240291 ms (missed cycles : 2).[0m +503.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919278 ms (missed cycles : 4).[0m +504.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788543053.81695414 seconds +504.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" +504.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788543054.43338513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +505.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049451 ms (missed cycles : 2).[0m +505.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788543055.30353475 seconds +506.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132887 ms (missed cycles : 3).[0m +506.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +506.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788543055.87103581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +506.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788543056.45116687 seconds +507.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +508.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677653 ms (missed cycles : 2).[0m +508.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104518 ms (missed cycles : 3).[0m +509.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091367 ms (missed cycles : 2).[0m +510.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549934 ms (missed cycles : 3).[0m +511.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m +511.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960965 ms (missed cycles : 2).[0m +512.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232481 ms (missed cycles : 2).[0m +513.34sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.34sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.34sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.34sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.35sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.35sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.35sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.35sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.35sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.35sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.35sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] +513.36sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.36sERRORweb_video_auth_proxy-38process has died [pid 7796, 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']. +513.36sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.36sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] +513.37sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.37sERRORweb_bridge_auth_proxy-37process has died [pid 7793, 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']. +513.37sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.38sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.38sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.38sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.38sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.38sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.38sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.38sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.39sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.39sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.39sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.39sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.39sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.39sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +513.39sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] +513.40sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] +513.41sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] +513.42sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] +513.43sINFOvideo_server-36process has finished cleanly [pid 7792] +513.43sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] +513.44sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] +513.45sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +513.46sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] +513.47sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] +513.49sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] +513.50sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] +513.50sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system +513.51sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] +513.52sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] +513.54sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] +513.55sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] +513.56sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +513.57sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] +513.58sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +513.58sERRORmove_group-24process has died [pid 7729, 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_w4wd5pkp --params-file /tmp/launch_params_y0fx9v8y --params-file /tmp/launch_params__qy3943d --params-file /tmp/launch_params_0kmlu6jn --params-file /tmp/launch_params_x10vqcnj --params-file /tmp/launch_params_4fyom7lh']. +513.59sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] +513.60sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] +513.61sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +513.62sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +513.63sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +513.64sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +513.65sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +513.65sINFOvideo_server2026/09/04 17:31:02 INF shutting down gracefully +513.65sINFOvideo_server2026/09/04 17:31:02 INF [WebRTC] closing +513.65sINFOvideo_server2026/09/04 17:31:02 INF [RTSP] closing +513.65sINFOvideo_server2026/09/04 17:31:02 INF waiting for running hooks +513.65sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +513.65sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +513.65sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +513.65sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +513.65sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +513.65sINFOcomponent_container_mtStopping planning scene monitor[0m +513.65sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +513.65sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +513.65sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +513.65sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +513.65sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +513.65sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +513.65sERRORmove_groupwhat(): context cannot be slept with because it's invalid +513.65sERRORmove_groupStack trace (most recent call last) in thread 8412: +513.65sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +513.65sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0748458a63, in __clone +513.65sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f07483cbaa3, in +513.65sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f074865ddb3, in +513.65sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f0748dc2a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +513.65sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f07489ef620, in rclcpp::Rate::sleep() +513.65sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +513.65sINFOros2_control_nodeShutdown request received....[0m +513.65sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +513.65sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +513.65sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +513.65sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +513.66sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +513.66sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +513.66sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +513.66sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +513.66sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +513.66sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +513.66sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +513.66sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +513.66sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +513.66sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +513.66sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +513.66sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +513.66sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +513.66sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +513.66sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +513.66sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +513.66sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +513.66sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +513.66sINFOros2_control_nodeShutting down the controller manager.[0m +513.66sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +513.66sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0748931d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +513.66sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f07488f3087, in +513.66sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f074862c390, in __cxa_throw +513.66sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0748616a54, in std::terminate() +513.66sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f074862c0d9, in +513.66sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0748616ff4, in +513.66sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f07483578fe, in abort +513.66sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f074837427d, in raise +513.66sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f07483cdb2c, in pthread_kill +513.66sERRORmove_groupAborted (Signal sent by tkill() 7729 0) +513.66sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +513.66sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +513.75sINFOros2_control_nodeAsync messages lost 0[0m ×2 +513.75sINFOros2_control_nodepublish_async_failures_ 1[0m +513.76sINFOros2_control_nodepublish_async_failures_ 2[0m +514.41sERRORcomponent_container_isolated-1process has died [pid 7623, 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_7sn20dbs --params-file /tmp/launch_params_qpa66_hl -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +514.46sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7776] +514.46sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system +514.53sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7760] +514.54sERRORodom_qos_relay.pyTraceback (most recent call last): +514.54sINFOodom_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> +514.54sINFOodom_qos_relay.pymain() +514.54sINFOodom_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 +514.54sINFOodom_qos_relay.pyrclpy.spin(node) +514.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +514.54sINFOodom_qos_relay.pyexecutor.spin_once() +514.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +514.54sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +514.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +514.54sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +514.54sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +514.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +514.54sINFOodom_qos_relay.pyreturn next(self._cb_iter) +514.55sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +514.55sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +514.55sINFOodom_qos_relay.pyraise ExternalShutdownException() +514.55sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +514.55sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7759] +514.55sINFOui_teleop_bridge-33process has finished cleanly [pid 7767] +514.55sINFOexecute_objective_bridge-32process has finished cleanly [pid 7764] +514.57sINFOcomponent_container_mt-31process has finished cleanly [pid 7763] +514.58sINFOparameter_manager_node-25process has finished cleanly [pid 7756] +514.60sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7714] +514.61sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7713] +514.61sINFOwaypoint_manager_node-26process has finished cleanly [pid 7757] +514.62sINFOstatic_transform_publisher-9process has finished cleanly [pid 7631] +514.63sINFOstatic_transform_publisher-8process has finished cleanly [pid 7630] +514.64sERRORlidar_flattener.pyTraceback (most recent call last): +514.64sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +514.64sINFOlidar_flattener.pymain() +514.64sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +514.64sINFOlidar_flattener.pyrclpy.spin(node) +514.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +514.64sINFOlidar_flattener.pyexecutor.spin_once() +514.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +514.64sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +514.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +514.64sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +514.64sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +514.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +514.64sINFOlidar_flattener.pyreturn next(self._cb_iter) +514.64sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +514.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +514.64sINFOlidar_flattener.pyraise ExternalShutdownException() +514.64sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +514.66sINFOobjective_server_node[2026-09-04 17:31:04.233] [moveit_pro_license] [critical] +514.66sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 +514.66sINFOstatic_transform_publisher-4process has finished cleanly [pid 7626] +514.67sINFOstatic_transform_publisher-3process has finished cleanly [pid 7625] +514.69sERRORlidar_flattener.py-7process has died [pid 7629, 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_r7yvb590']. +514.71sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7628] +514.73sINFOobjective_server_node_main-29process has finished cleanly [pid 7761] +514.73sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system +515.62sERRORodom_qos_relay.py-5process has died [pid 7627, 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']. +515.66sINFOcomponent_container_mt-30process has finished cleanly [pid 7762] +515.97sERRORcomponent_container_isolated-2process has died [pid 7624, 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_7sn20dbs --params-file /tmp/launch_params_ig2xg22e -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +516.22sINFOweb_bridge-34process has finished cleanly [pid 7775] +516.22sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system +516.27sINFOros2_control_node-12process has finished cleanly [pid 7715] +521.92sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-17-31-09-808210-4fa0f1f55719-8760 ×2 +526.25sINFOstatic_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' +526.25sINFOstatic_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' +526.26sINFOstatic_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' +526.26sINFOstatic_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' +526.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +526.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +526.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +526.52sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +526.55sINFOros2_control_node-12process started with pid [8902] ×2 +526.55sINFOmove_group-24process started with pid [8927] ×2 +526.55sINFOparameter_manager_node-25process started with pid [8959] ×2 +526.55sINFOwaypoint_manager_node-26process started with pid [8966] ×2 +526.55sINFOmove_joint_resampler_node-27process started with pid [8967] ×2 +526.55sINFOmove_end_effector_resampler_node-28process started with pid [8968] ×2 +526.55sINFOobjective_server_node_main-29process started with pid [8969] ×2 +526.55sINFOcomponent_container_mt-30process started with pid [8970] ×2 +526.55sINFOcomponent_container_mt-31process started with pid [8971] ×2 +526.55sINFOexecute_objective_bridge-32process started with pid [8972] ×2 +526.55sINFOui_teleop_bridge-33process started with pid [8975] ×2 +526.55sINFOweb_bridge-34process started with pid [8976] ×2 +526.55sINFOtf2_web_republisher_node-35process started with pid [8981] ×2 +526.55sINFOvideo_server-36process started with pid [8984] ×2 +526.55sINFOweb_bridge_auth_proxy-37process started with pid [8989] ×2 +526.55sINFOweb_video_auth_proxy-38process started with pid [8990] ×2 +526.55sINFOcontroller_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. +526.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +526.56sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +526.56sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +526.57sINFOcomponent_container_isolated-1process started with pid [8810] ×2 +526.57sINFOcomponent_container_isolated-2process started with pid [8811] ×2 +526.57sINFOstatic_transform_publisher-3process started with pid [8812] ×2 +526.57sINFOstatic_transform_publisher-4process started with pid [8813] ×2 +526.57sINFOodom_qos_relay.py-5process started with pid [8814] ×2 +526.57sINFOforward_stereo_publisher.py-6process started with pid [8815] ×2 +526.57sINFOlidar_flattener.py-7process started with pid [8816] ×2 +526.57sINFOstatic_transform_publisher-8process started with pid [8817] ×2 +526.57sINFOstatic_transform_publisher-9process started with pid [8818] ×2 +526.57sINFOscan_to_scan_filter_chain-10process started with pid [8900] ×2 +526.57sINFOscan_to_scan_filter_chain-11process started with pid [8901] ×2 +526.57sINFOros2-13process started with pid [8903] ×2 +526.57sINFOros2-14process started with pid [8904] ×2 +526.57sINFOros2-15process started with pid [8905] ×2 +526.57sINFOros2-16process started with pid [8906] ×2 +526.57sINFOros2-17process started with pid [8907] ×2 +526.57sINFOros2-18process started with pid [8910] ×2 +526.57sINFOros2-19process started with pid [8911] ×2 +526.57sINFOros2-20process started with pid [8912] ×2 +526.58sINFOros2-21process started with pid [8913] ×2 +526.58sINFOros2-22process started with pid [8914] ×2 +526.58sINFOros2-23process started with pid [8915] ×2 +526.59sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +526.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +526.62sINFOcontroller_managerupdate rate is 600 Hz +526.62sINFOcontroller_managerOverruns handling is : enabled +526.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +526.64sWARNcontroller_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. +526.64sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +526.64sINFOcontroller_serverCreating controller server +526.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.789986 ms (missed cycles : 6). +526.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.789986 ms (missed cycles : 6).[0m ×2 +526.72sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +526.72sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +526.73sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +526.74sINFOlocal_costmap.local_costmapCreating Costmap +526.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +526.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +526.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +526.77sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +526.77sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +526.77sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +526.77sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +526.77sINFOsmoother_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. +526.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +526.77sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +526.79sINFOvideo_server2026/09/04 17:31:16 INF MediaMTX v1.20.1, linux, amd64 ×2 +526.79sINFOvideo_server2026/09/04 17:31:16 INF configuration loaded from /tmp/moveit-webrtc-zk7foz1f/mediamtx.yml ×2 +526.79sINFOvideo_server2026/09/04 17:31:16 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +526.79sINFOvideo_server2026/09/04 17:31:16 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +526.81sINFOmap_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. +526.81sINFOmap_serverCreating +526.82sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +526.82sINFOsmoother_serverCreating smoother server +526.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +526.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +526.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +526.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +526.84sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +526.89sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +526.90sINFOrobot_state_publisherRobot initialized +526.90sINFOcontroller_managerReceived robot description from topic. +526.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +526.91sINFOplanner_serverCreating +526.92sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +526.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +526.93sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +526.93sINFOglobal_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. +526.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +526.94sINFOlifecycle_manager_localizationCreating +526.94sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +526.96sINFOglobal_costmap.global_costmapCreating Costmap +526.96sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +526.97sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +526.97sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +526.97sINFOmap_serverConfiguring +526.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +526.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +526.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +526.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +527.00sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +527.07sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +527.07sINFOamclConfiguring +527.07sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +527.08sINFOmap_serverActivating +527.08sINFOmap_serverCreating bond (map_server) to lifecycle manager. +527.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +527.09sINFObehavior_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. +527.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +527.16sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +527.18sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +527.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +527.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +527.19sINFOlifecycle_manager_localizationServer map_server connected with bond. +527.19sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +527.19sINFOamclActivating +527.19sINFOamclSubscribed to initial_pose_topic: /initialpose +527.19sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +527.22sINFOamclSubscribed to map_topic: /map +527.23sINFOamclSubscribed to scan_topic: /scan_merged +527.23sINFOamclCreated reinitialize_global_localization service +527.23sINFObt_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. +527.24sINFOamclCreated request_nomotion_update service +527.24sINFOamclA new map was received +527.24sINFOamclInitializing particle filter instance +527.27sINFObt_navigatorCreating +527.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +527.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +527.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +527.33sINFOwaypoint_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. +527.34sINFOwaypoint_followerCreating +527.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +527.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +527.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +527.38sWARNlaser_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. +527.39sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.512912 seconds +527.39sINFOmove_groupLoaded robot model in 0.512912 seconds[0m ×2 +527.39sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +527.39sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +527.43sINFOvelocity_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. +527.43sWARNlaser_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. +527.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +527.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +527.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +527.47sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +527.48sINFOlifecycle_manager_navigationCreating +527.51sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +527.57sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +527.57sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +527.57sINFOcontroller_serverConfiguring controller interface +527.57sINFOcontroller_servergetting progress checker plugins.. +527.57sINFOcontroller_servergetting goal checker plugins.. +527.57sINFOcontroller_serverController frequency set to 20.0000Hz +527.57sINFOlocal_costmap.local_costmapConfiguring +527.58sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +527.59sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +527.62sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +527.62sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +527.62sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +527.66sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +527.66sINFOcontroller_serverController Server has progress_checker progress checkers available. +527.67sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +527.67sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +527.67sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +527.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.721568 ms (missed cycles : 8). +527.69sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +527.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.721568 ms (missed cycles : 8).[0m ×2 +527.69sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +527.69sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +527.71sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +527.71sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +527.71sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +527.71sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +527.72sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +527.72sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +527.73sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +527.73sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +527.73sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +527.74sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +527.74sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +527.75sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +527.75sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +527.76sINFOcontroller_serverOptimizer reset ×2 +527.78sINFOcontroller_serverController Server has FollowPath controllers available. +527.81sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +527.81sINFOsmoother_serverConfiguring smoother server +527.82sINFOamclParticle filter initialization completed +527.82sINFOamclInitializing particles from estimated pose and covariance +527.82sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +527.83sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +527.84sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +527.85sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +527.85sINFOplanner_serverConfiguring +527.85sINFOglobal_costmap.global_costmapConfiguring +527.87sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +527.88sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +527.88sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +527.88sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +527.89sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +527.90sINFOlifecycle_manager_localizationServer amcl connected with bond. +527.90sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +527.90sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +527.93sINFOamclThe bond connection to the lifecycle manager is now fully formed +527.94sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +527.94sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +527.94sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +528.01sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +528.02sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +528.02sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +528.05sINFOplanner_serverPlanner Server has GridBased planners available. +528.07sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +528.07sINFObehavior_serverConfiguring +528.09sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +528.09sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +528.10sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +528.10sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +528.10sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +528.11sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +528.11sWARNmove_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. +528.11sWARNmove_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. +528.11sINFObehavior_serverConfiguring spin +528.11sWARNmove_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. +528.11sWARNmove_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. +528.11sWARNmove_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. +528.11sWARNmove_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. +528.11sWARNmove_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. +528.11sWARNmove_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. +528.12sWARNmove_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. +528.12sWARNmove_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. +528.13sINFObehavior_serverConfiguring backup +528.14sINFObehavior_serverConfiguring drive_on_heading +528.14sINFObehavior_serverConfiguring assisted_teleop +528.16sINFObehavior_serverConfiguring wait +528.17sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +528.17sINFObt_navigatorConfiguring +528.17sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +528.18sWARNbt_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 +528.23sINFOwaypoint_manager_nodeLoaded robot model in 0.361491 seconds[0m ×2 +528.30sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +528.34sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +528.34sINFOwaypoint_followerConfiguring +528.36sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +528.36sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +528.36sINFOvelocity_smootherConfiguring velocity smoother +528.37sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +528.37sINFOcontroller_serverActivating +528.37sINFOlocal_costmap.local_costmapActivating +528.37sINFOlocal_costmap.local_costmapChecking transform +528.37sINFOlocal_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. ×12 +528.40sINFOmove_group[2026-09-04 17:31:17.971] [moveit_pro_license] [info] ×2 +528.52sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +528.52sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +528.60sWARNwaypoint_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. +528.60sWARNwaypoint_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. +528.60sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.61sWARNwaypoint_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. +528.62sWARNwaypoint_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. +528.84sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +528.84sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +528.84sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +528.85sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +528.85sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +528.85sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +528.85sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +528.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495168 ms (missed cycles : 4). +528.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495168 ms (missed cycles : 4).[0m ×2 +528.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +528.86sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +528.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +528.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +528.95sINFOwaypoint_manager_node[2026-09-04 17:31:18.522] [moveit_pro_license] [info] ×2 +529.47sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +529.47sINFOcontroller_managerActivating component 'ur_mujoco_control'. +529.47sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +529.47sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +529.49sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +529.49sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +529.61sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +529.61sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +529.65sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +529.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +529.84sINFOobjective_server_node[2026-09-04 17:31:19.416] [moveit_pro_license] [info] ×2 +529.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699555 ms (missed cycles : 2). +529.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699555 ms (missed cycles : 2).[0m ×2 +529.92sINFOobjective_server_nodeLoaded robot model in 0.0352325 seconds[0m ×2 +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +530.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +530.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +530.11sINFOros2_control_node[2026-09-04 17:31:19.677] [info] Controller state will be published at 20 Hz. ×2 +530.11sINFOros2_control_node[2026-09-04 17:31:19.679] [info] JointVelocityController 'on_configure' succeeded. ×2 +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +530.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +530.12sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +530.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +530.15sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +530.15sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +530.15sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +530.16sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +530.16sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +530.16sINFOstreaming_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) +530.16sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +530.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +530.30sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +530.37sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +530.37sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +530.37sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +530.37sWARNobjective_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. +530.37sWARNobjective_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. +530.37sWARNobjective_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. +530.37sWARNobjective_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. +530.37sWARNobjective_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. +530.37sWARNobjective_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. +530.37sWARNobjective_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. +530.37sWARNobjective_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. +530.37sWARNobjective_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. +530.37sWARNobjective_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. +530.40sINFOstreaming_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) +530.49sINFOros2-23process has finished cleanly [pid 8915] ×2 +530.51sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +530.51sINFOcontroller_managerLoading controller 'velocity_force_controller' +530.58sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +530.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +530.62sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +530.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +530.65sINFOmove_groupMoveGroup debug mode is ON +530.72sINFOcomponent_container_mtLoaded robot model in 0.40006 seconds[0m ×2 +530.72sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +530.80sINFOmove_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
********************************************************
+530.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714146 ms (missed cycles : 2). +530.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714146 ms (missed cycles : 2).[0m ×2 +531.13sINFOros2_control_node[2026-09-04 17:31:20.697] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +531.13sINFOros2_control_node[2026-09-04 17:31:20.699] [info] Controller state will be published at 10 Hz. ×2 +531.13sINFOros2_control_node[2026-09-04 17:31:20.701] [info] VelocityForceController 'on_configure' succeeded. ×2 +531.20sWARNplanning_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. +531.20sWARNplanning_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. +531.20sWARNplanning_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. +531.20sWARNplanning_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. +531.20sWARNplanning_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. +531.20sWARNplanning_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. +531.20sWARNplanning_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. +531.20sWARNplanning_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. +531.20sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.21sWARNplanning_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. +531.28sWARNros2_control_nodeCamera render tick took 0.66 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +531.31sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +531.31sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +531.43sINFOcomponent_container_mt[2026-09-04 17:31:21.004] [moveit_pro_license] [info] ×2 +531.44sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +531.44sINFOcontroller_managerLoading controller 'platform_velocity_controller' +531.44sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +531.44sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +531.48sINFOros2-20process has finished cleanly [pid 8912] ×2 +531.50sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +531.50sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +531.50sINFOplatform_velocity_controllerconfigure successful +531.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +531.51sINFOcontroller_managerSuccessfully switched controllers! ×20 +531.51sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +531.82sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +531.82sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +531.82sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +531.82sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +531.84sINFOros2-16process has finished cleanly [pid 8906] ×2 +531.86sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +531.87sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +531.87sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +531.88sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +531.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757763 ms (missed cycles : 2). +531.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757763 ms (missed cycles : 2).[0m ×2 +531.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 +532.22sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +532.22sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +532.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +532.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +532.23sINFOros2-14process has finished cleanly [pid 8904] ×2 +532.31sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +532.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +532.31sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +532.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +532.31sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +532.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +532.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +532.33sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788543080.200 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +532.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +532.63sINFOcontroller_managerLoading controller 'vacuum_gripper' +532.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +532.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +532.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +532.66sINFOros2-19process has finished cleanly [pid 8911] ×2 +532.69sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +532.69sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +532.69sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +532.69sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +532.70sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +532.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088294 ms (missed cycles : 2). +532.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088294 ms (missed cycles : 2).[0m ×2 +533.02sINFOros2-17process has finished cleanly [pid 8907] ×2 +533.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +533.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' +533.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +533.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +533.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +533.07sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +533.44sINFOros2_control_node[2026-09-04 17:31:23.013] [info] Controller state will be published at 20 Hz. ×2 +533.44sINFOros2_control_node[2026-09-04 17:31:23.014] [info] JointVelocityController 'on_configure' succeeded. ×2 +533.79sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +533.79sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +533.79sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +533.79sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +533.80sINFOros2-22process has finished cleanly [pid 8914] ×2 +533.85sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +533.85sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +533.86sINFOplatform_velocity_controller_nav2configure successful +533.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362374 ms (missed cycles : 2). +533.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362374 ms (missed cycles : 2).[0m ×2 +534.19sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +534.19sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +534.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +534.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +534.21sINFOros2-18process has finished cleanly [pid 8910] ×2 +534.25sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +534.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +534.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +534.26sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +534.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +534.37sINFOlocal_costmap.local_costmapstart +534.47sWARNcontroller_serverParameter controller_server.verbose not found +534.48sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +534.58sINFOlifecycle_manager_navigationServer controller_server connected with bond. +534.58sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +534.58sINFOsmoother_serverActivating +534.58sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +534.59sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +534.59sINFOros2-15process has finished cleanly [pid 8905] ×2 +534.59sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +534.59sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +534.59sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +534.65sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +534.65sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +534.69sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +534.69sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +534.69sINFOplanner_serverActivating +534.69sINFOglobal_costmap.global_costmapActivating +534.69sINFOglobal_costmap.global_costmapChecking transform +534.69sINFOglobal_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. +534.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479145 ms (missed cycles : 2). +534.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479145 ms (missed cycles : 2).[0m ×2 +534.96sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.308ms +535.08sINFOros2_control_node[2026-09-04 17:31:24.648] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +535.08sINFOros2_control_node[2026-09-04 17:31:24.650] [info] Controller state will be published at 10 Hz. ×2 +535.08sINFOros2_control_node[2026-09-04 17:31:24.651] [info] VelocityForceController 'on_configure' succeeded. ×2 +535.19sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788543084.749183, but only time 1788543084.907859 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +535.34sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788543083.276 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +535.43sINFOros2-21process has finished cleanly [pid 8913] ×2 +535.47sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +535.47sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +535.48sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 +535.48sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z3se4ome --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_4w6nn7mn --params-file /tmp/launch_params_f0g39tz8 [0m ×2 +535.53sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +535.53sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +535.54sINFOforce_torque_sensor_broadcasterconfigure successful +535.54sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +535.55sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +535.69sINFOglobal_costmap.global_costmapstart +535.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +535.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +535.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +535.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +535.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +535.86sINFOros2-13process has finished cleanly [pid 8903] ×2 +535.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343481 ms (missed cycles : 3). +535.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343481 ms (missed cycles : 3).[0m ×2 +536.74sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +536.74sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +536.85sINFOlifecycle_manager_navigationServer planner_server connected with bond. +536.85sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +536.85sINFObehavior_serverActivating +536.85sINFObehavior_serverActivating spin +536.85sINFObehavior_serverActivating backup +536.85sINFObehavior_serverActivating drive_on_heading +536.85sINFObehavior_serverActivating assisted_teleop +536.85sINFObehavior_serverActivating wait +536.85sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +536.95sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +536.95sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +536.95sINFObt_navigatorActivating +536.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053134 ms (missed cycles : 2). +536.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053134 ms (missed cycles : 2).[0m ×2 +537.02sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +537.12sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +537.12sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +537.12sINFOwaypoint_followerActivating +537.12sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +537.22sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +537.22sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +537.22sINFOvelocity_smootherActivating +537.22sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +537.33sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +537.33sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +537.33sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +538.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). +538.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 +539.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). +539.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 +540.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). +540.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 +540.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+540.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +540.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +540.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +540.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 +541.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). +541.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 +541.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+541.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +541.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 +542.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+542.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +542.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). +542.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 +542.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 +542.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+542.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +542.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +542.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +542.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 +543.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). +543.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 +543.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+543.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +543.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +543.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +543.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +544.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). +544.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[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 | 64.7s | 3 errors · 274 warnings · 253 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.884ms + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833458 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833458 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.943ms + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.610ms + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859653 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859653 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.852ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431323 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431323 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_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 + 2.81sINFOjoint_trajectory_controllerGot request to cancel goal + 2.81sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.84sERRORobjective_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: 1788543302.09263945 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-0.46, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-1.36, 2.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.396ms + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788543302.67141914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.349ms + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479285 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479285 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 4.71sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 4.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×6 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899034 ms (missed cycles : 3). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899034 ms (missed cycles : 3).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407022 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407022 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022863 ms (missed cycles : 3). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022863 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055217 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055217 ms (missed cycles : 3).[0m ×2 + 8.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.304ms + 9.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.369ms + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435118 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435118 ms (missed cycles : 3).[0m ×2 + 9.87sWARNros2_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 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.253ms + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485314 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485314 ms (missed cycles : 2).[0m ×2 + 10.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.468ms + 11.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.987ms + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589497 ms (missed cycles : 4). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589497 ms (missed cycles : 4).[0m ×2 + 11.64sINFOamclParticle filter update iteration stats: 3492 particles 723 points - 8.558ms + 12.23sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 5.289ms + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021555 ms (missed cycles : 5). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021555 ms (missed cycles : 5).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.846ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.366ms + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929411 ms (missed cycles : 2). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929411 ms (missed cycles : 2).[0m ×2 + 13.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 14.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481104 ms (missed cycles : 4). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481104 ms (missed cycles : 4).[0m ×2 + 15.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090376 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090376 ms (missed cycles : 2).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166006 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166006 ms (missed cycles : 2).[0m ×2 + 16.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 17.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024626 ms (missed cycles : 3). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024626 ms (missed cycles : 3).[0m ×2 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699870 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699870 ms (missed cycles : 2).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842838 ms (missed cycles : 3). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842838 ms (missed cycles : 3).[0m ×2 + 20.52sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 20.54sWARNros2_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 + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122215 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122215 ms (missed cycles : 2).[0m ×2 + 21.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.111ms + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152289 ms (missed cycles : 2). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152289 ms (missed cycles : 2).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672243 ms (missed cycles : 3). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672243 ms (missed cycles : 3).[0m ×2 + 23.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978126 ms (missed cycles : 4). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978126 ms (missed cycles : 4).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920896 ms (missed cycles : 3). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920896 ms (missed cycles : 3).[0m ×2 + 26.04sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 26.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 26.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801633 ms (missed cycles : 2). + 26.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801633 ms (missed cycles : 2).[0m ×2 + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.471ms + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402279 ms (missed cycles : 3). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402279 ms (missed cycles : 3).[0m ×2 + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 28.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325398 ms (missed cycles : 2). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325398 ms (missed cycles : 2).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758678 ms (missed cycles : 2). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758678 ms (missed cycles : 2).[0m ×2 + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.677ms + 29.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 30.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203284 ms (missed cycles : 3). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203284 ms (missed cycles : 3).[0m ×2 + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 31.56sWARNros2_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 + 31.58sWARNros2_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 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845063 ms (missed cycles : 3). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845063 ms (missed cycles : 3).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802299 ms (missed cycles : 3). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802299 ms (missed cycles : 3).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900378 ms (missed cycles : 2). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900378 ms (missed cycles : 2).[0m ×2 + 34.58sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.58sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 34.92sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316616 ms (missed cycles : 2). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316616 ms (missed cycles : 2).[0m ×2 + 35.87sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 36.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769465 ms (missed cycles : 3). + 36.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769465 ms (missed cycles : 3).[0m ×2 + 36.65sWARNros2_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 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032381 ms (missed cycles : 4). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032381 ms (missed cycles : 4).[0m ×2 + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805065 ms (missed cycles : 4). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805065 ms (missed cycles : 4).[0m ×2 + 38.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.329ms + 39.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158957 ms (missed cycles : 5). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158957 ms (missed cycles : 5).[0m ×2 + 39.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms + 40.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 40.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462392 ms (missed cycles : 4). + 40.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462392 ms (missed cycles : 4).[0m ×2 + 41.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419138 ms (missed cycles : 3). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419138 ms (missed cycles : 3).[0m ×2 + 42.21sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 42.23sWARNros2_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 + 42.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786237 ms (missed cycles : 3). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786237 ms (missed cycles : 3).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301262 ms (missed cycles : 2). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301262 ms (missed cycles : 2).[0m ×2 + 44.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488875 ms (missed cycles : 3). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488875 ms (missed cycles : 3).[0m ×2 + 46.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972379 ms (missed cycles : 3). + 46.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972379 ms (missed cycles : 3).[0m ×2 + 46.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361021 ms (missed cycles : 3). + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361021 ms (missed cycles : 3).[0m ×2 + 47.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 47.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329319 ms (missed cycles : 4). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329319 ms (missed cycles : 4).[0m ×2 + 49.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.347ms + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776381 ms (missed cycles : 2). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776381 ms (missed cycles : 2).[0m ×2 + 49.62sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 50.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505476 ms (missed cycles : 2). + 50.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505476 ms (missed cycles : 2).[0m ×2 + 51.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454567 ms (missed cycles : 3). + 51.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454567 ms (missed cycles : 3).[0m ×2 + 52.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157144 ms (missed cycles : 2). + 52.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157144 ms (missed cycles : 2).[0m ×2 + 53.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863526 ms (missed cycles : 3). + 53.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863526 ms (missed cycles : 3).[0m ×2 + 53.39sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 53.41sWARNros2_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 + 54.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.476ms + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238609 ms (missed cycles : 3). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238609 ms (missed cycles : 3).[0m ×2 + 54.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 55.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440869 ms (missed cycles : 2). + 55.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440869 ms (missed cycles : 2).[0m ×2 + 55.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.359ms + 56.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881829 ms (missed cycles : 3). + 56.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881829 ms (missed cycles : 3).[0m ×2 + 57.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.306ms + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358917 ms (missed cycles : 2). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358917 ms (missed cycles : 2).[0m ×2 + 58.17sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 58.42sWARNros2_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 + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131549 ms (missed cycles : 3). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131549 ms (missed cycles : 3).[0m ×2 + 60.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248655 ms (missed cycles : 2). + 60.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248655 ms (missed cycles : 2).[0m ×2 + 61.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595994 ms (missed cycles : 2). + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595994 ms (missed cycles : 2).[0m ×2 + 62.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244861 ms (missed cycles : 2). + 62.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244861 ms (missed cycles : 2).[0m ×2 + 63.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365075 ms (missed cycles : 3). + 63.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365075 ms (missed cycles : 3).[0m ×2 + 63.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 64.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160795 ms (missed cycles : 2). + 64.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160795 ms (missed cycles : 2).[0m ×2 + 65.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 65.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381325 ms (missed cycles : 3). + 65.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381325 ms (missed cycles : 3).[0m ×2 + 65.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 66.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601311 ms (missed cycles : 3). + 66.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601311 ms (missed cycles : 3).[0m ×2 + 67.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 67.55sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788543366.80158019 seconds ×3 + 67.69sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 67.69sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 67.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186191 ms (missed cycles : 2). + 67.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186191 ms (missed cycles : 2).[0m ×2 + 68.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.09sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788543367.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.395ms + 69.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807832 ms (missed cycles : 3). + 69.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807832 ms (missed cycles : 3).[0m ×2 + 69.26sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 69.29sWARNros2_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 + 70.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196570 ms (missed cycles : 3). + 70.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196570 ms (missed cycles : 3).[0m ×2 + 71.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3). + 71.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 253 warnings · 206 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566526 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566526 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671777 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671777 ms (missed cycles : 2).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.44sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788543142.10255289 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.00sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788543142.67876339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448032 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448032 ms (missed cycles : 3).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 2491 particles 723 points - 2.881ms + 3.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 3.91sWARNros2_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 + 3.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764513 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764513 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781972 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781972 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.70sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.70sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094614 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094614 ms (missed cycles : 3).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050561 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050561 ms (missed cycles : 2).[0m ×2 + 7.83sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 3.978ms + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489305 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489305 ms (missed cycles : 3).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 4.653ms + 9.45sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 9.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 9.48sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 4.251ms + 9.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483908 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483908 ms (missed cycles : 3).[0m ×2 + 10.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.999ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075771 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075771 ms (missed cycles : 2).[0m ×2 + 11.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.366ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841783 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841783 ms (missed cycles : 3).[0m ×2 + 11.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563181 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563181 ms (missed cycles : 2).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178670 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178670 ms (missed cycles : 2).[0m ×2 + 14.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 14.63sWARNros2_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 + 14.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 14.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841634 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841634 ms (missed cycles : 3).[0m ×2 + 15.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.250ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553825 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553825 ms (missed cycles : 3).[0m ×2 + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.253ms + 17.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128296 ms (missed cycles : 4). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128296 ms (missed cycles : 4).[0m ×2 + 17.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815904 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815904 ms (missed cycles : 2).[0m ×2 + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587192 ms (missed cycles : 5). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587192 ms (missed cycles : 5).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 19.97sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.99sWARNros2_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 + 20.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056031 ms (missed cycles : 3). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056031 ms (missed cycles : 3).[0m ×2 + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.259ms + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986726 ms (missed cycles : 2). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986726 ms (missed cycles : 2).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529815 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529815 ms (missed cycles : 2).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974212 ms (missed cycles : 2). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974212 ms (missed cycles : 2).[0m ×2 + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 24.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051820 ms (missed cycles : 2). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051820 ms (missed cycles : 2).[0m ×2 + 24.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249344 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249344 ms (missed cycles : 2).[0m ×2 + 25.41sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 25.43sWARNros2_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 + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 26.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511686 ms (missed cycles : 3). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511686 ms (missed cycles : 3).[0m ×2 + 26.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.573ms + 27.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398127 ms (missed cycles : 3). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398127 ms (missed cycles : 3).[0m ×2 + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644757 ms (missed cycles : 4). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644757 ms (missed cycles : 4).[0m ×2 + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 29.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375522 ms (missed cycles : 4). + 29.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375522 ms (missed cycles : 4).[0m ×2 + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.195ms + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.254ms + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983584 ms (missed cycles : 4). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983584 ms (missed cycles : 4).[0m ×2 + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.600ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673818 ms (missed cycles : 3). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673818 ms (missed cycles : 3).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470691 ms (missed cycles : 3). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470691 ms (missed cycles : 3).[0m ×2 + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561550 ms (missed cycles : 2). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561550 ms (missed cycles : 2).[0m ×2 + 33.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 34.11sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113251 ms (missed cycles : 3). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113251 ms (missed cycles : 3).[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707494 ms (missed cycles : 2). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707494 ms (missed cycles : 2).[0m ×2 + 36.37sWARNros2_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 + 36.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609138 ms (missed cycles : 3). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609138 ms (missed cycles : 3).[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966953 ms (missed cycles : 5). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966953 ms (missed cycles : 5).[0m ×2 + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660475 ms (missed cycles : 4). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660475 ms (missed cycles : 4).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823299 ms (missed cycles : 2). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823299 ms (missed cycles : 2).[0m ×2 + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352071 ms (missed cycles : 2). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352071 ms (missed cycles : 2).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms ×2 + 41.94sWARNros2_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 + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154879 ms (missed cycles : 2). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154879 ms (missed cycles : 2).[0m ×2 + 43.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143039 ms (missed cycles : 5). + 43.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143039 ms (missed cycles : 5).[0m ×2 + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655913 ms (missed cycles : 3). + 44.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655913 ms (missed cycles : 3).[0m ×2 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116737 ms (missed cycles : 2). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116737 ms (missed cycles : 2).[0m ×2 + 46.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544413 ms (missed cycles : 3). + 46.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544413 ms (missed cycles : 3).[0m ×2 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778277 ms (missed cycles : 3). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778277 ms (missed cycles : 3).[0m ×2 + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410785 ms (missed cycles : 5). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410785 ms (missed cycles : 5).[0m ×2 + 49.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545807 ms (missed cycles : 3). + 49.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545807 ms (missed cycles : 3).[0m ×2 + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792607 ms (missed cycles : 3). + 50.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792607 ms (missed cycles : 3).[0m ×2 + 51.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530986 ms (missed cycles : 4). + 51.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530986 ms (missed cycles : 4).[0m ×2 + 52.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843816 ms (missed cycles : 2). + 52.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843816 ms (missed cycles : 2).[0m ×2 + 54.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309931 ms (missed cycles : 2). + 54.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309931 ms (missed cycles : 2).[0m ×2 + 55.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403047 ms (missed cycles : 3). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403047 ms (missed cycles : 3).[0m ×2 + 55.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331006 ms (missed cycles : 5). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331006 ms (missed cycles : 5).[0m ×2 + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3).[0m ×2 + 58.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3). + 58.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3).[0m ×2 + 59.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2). + 59.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2).[0m ×2 + 59.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 59.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788543199.39889979 seconds ×3 + 59.81sWARNlocal_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. ×5 + 59.81sWARNlocal_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. ×5 + 60.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3). + 60.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3).[0m ×2 + 60.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.31sWARNlocal_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 + 60.31sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.31sWARNlocal_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 + 60.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788543199.98077321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.72sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 60.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.158ms + 61.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2). + 61.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2).[0m ×2 + 62.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3). + 62.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3).[0m ×2 + 63.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2). + 63.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.2s | 248 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.59sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788543373.24321723 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.04sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788543373.82746029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.85sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.85sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793735 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793735 ms (missed cycles : 2).[0m ×2 + 8.12sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 8.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 8.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.740ms + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016625 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016625 ms (missed cycles : 3).[0m ×2 + 9.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.998ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506542 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506542 ms (missed cycles : 3).[0m ×2 + 9.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.633ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.691ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444363 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444363 ms (missed cycles : 3).[0m ×2 + 10.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.735ms + 11.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.937ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020044 ms (missed cycles : 4). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020044 ms (missed cycles : 4).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 12.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.680ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478347 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478347 ms (missed cycles : 2).[0m ×2 + 13.27sWARNros2_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 + 13.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.473ms + 13.90sINFOamclParticle filter update iteration stats: 3938 particles 723 points - 8.502ms + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392589 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392589 ms (missed cycles : 3).[0m ×2 + 14.48sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 5.881ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376836 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376836 ms (missed cycles : 3).[0m ×2 + 15.06sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.427ms + 15.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.347ms + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673499 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673499 ms (missed cycles : 2).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503140 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503140 ms (missed cycles : 3).[0m ×2 + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086573 ms (missed cycles : 3). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086573 ms (missed cycles : 3).[0m ×2 + 18.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 18.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.74sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 18.76sWARNros2_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 + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862033 ms (missed cycles : 4). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862033 ms (missed cycles : 4).[0m ×2 + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141363 ms (missed cycles : 3). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141363 ms (missed cycles : 3).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950392 ms (missed cycles : 3). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950392 ms (missed cycles : 3).[0m ×2 + 21.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.317ms + 21.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133698 ms (missed cycles : 3). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133698 ms (missed cycles : 3).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114797 ms (missed cycles : 4). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114797 ms (missed cycles : 4).[0m ×2 + 23.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 24.29sWARNros2_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 ×8 + 24.31sWARNros2_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 + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889490 ms (missed cycles : 4). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889490 ms (missed cycles : 4).[0m ×2 + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms ×2 + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251599 ms (missed cycles : 4). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251599 ms (missed cycles : 4).[0m ×2 + 26.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144918 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144918 ms (missed cycles : 2).[0m ×2 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758190 ms (missed cycles : 4). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758190 ms (missed cycles : 4).[0m ×2 + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729979 ms (missed cycles : 4). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729979 ms (missed cycles : 4).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.404ms + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141427 ms (missed cycles : 3). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141427 ms (missed cycles : 3).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 30.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.649ms + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784024 ms (missed cycles : 5). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784024 ms (missed cycles : 5).[0m ×2 + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319708 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319708 ms (missed cycles : 2).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 32.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.629ms + 33.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784892 ms (missed cycles : 4). + 33.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784892 ms (missed cycles : 4).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535335 ms (missed cycles : 5). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535335 ms (missed cycles : 5).[0m ×2 + 34.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 34.26sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716223 ms (missed cycles : 2). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716223 ms (missed cycles : 2).[0m ×2 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065374 ms (missed cycles : 2). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065374 ms (missed cycles : 2).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444585 ms (missed cycles : 5). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444585 ms (missed cycles : 5).[0m ×2 + 38.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743322 ms (missed cycles : 3). + 38.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743322 ms (missed cycles : 3).[0m ×2 + 39.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 39.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 40.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387837 ms (missed cycles : 3). + 40.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387837 ms (missed cycles : 3).[0m ×2 + 41.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.679ms + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.754854 ms (missed cycles : 5). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.754854 ms (missed cycles : 5).[0m ×2 + 43.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001698 ms (missed cycles : 2). + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001698 ms (missed cycles : 2).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735609 ms (missed cycles : 3). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735609 ms (missed cycles : 3).[0m ×2 + 45.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420056 ms (missed cycles : 2). + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420056 ms (missed cycles : 2).[0m ×2 + 45.45sWARNros2_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 + 45.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181344 ms (missed cycles : 2). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181344 ms (missed cycles : 2).[0m ×2 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286532 ms (missed cycles : 5). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286532 ms (missed cycles : 5).[0m ×2 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470609 ms (missed cycles : 2). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470609 ms (missed cycles : 2).[0m ×2 + 49.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719621 ms (missed cycles : 2). + 49.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719621 ms (missed cycles : 2).[0m ×2 + 49.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 50.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918578 ms (missed cycles : 3). + 50.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918578 ms (missed cycles : 3).[0m ×2 + 50.97sWARNros2_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 + 51.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083621 ms (missed cycles : 2). + 51.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083621 ms (missed cycles : 2).[0m ×2 + 51.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 52.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633582 ms (missed cycles : 2). + 52.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633582 ms (missed cycles : 2).[0m ×2 + 53.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797253 ms (missed cycles : 3). + 53.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797253 ms (missed cycles : 3).[0m ×2 + 54.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260284 ms (missed cycles : 2). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260284 ms (missed cycles : 2).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423294 ms (missed cycles : 3). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423294 ms (missed cycles : 3).[0m ×2 + 57.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463602 ms (missed cycles : 3). + 57.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463602 ms (missed cycles : 3).[0m ×2 + 58.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414039 ms (missed cycles : 3). + 58.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414039 ms (missed cycles : 3).[0m ×2 + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161338 ms (missed cycles : 3). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161338 ms (missed cycles : 3).[0m ×2 + 59.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 59.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788543430.44769335 seconds ×3 + 59.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.94sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175252 ms (missed cycles : 2). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175252 ms (missed cycles : 2).[0m ×2 + 60.34sWARNlocal_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 + 60.34sWARNlocal_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 + 60.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.39sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.43sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788543431.03606844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.83sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 60.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.952ms + 61.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982763 ms (missed cycles : 3). + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982763 ms (missed cycles : 3).[0m ×2 + 62.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926763 ms (missed cycles : 3). + 62.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926763 ms (missed cycles : 3).[0m ×2 + 63.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871889 ms (missed cycles : 3). + 63.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871889 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.7s | 256 warnings · 217 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2).[0m ×2 + 2.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788543238.48676491 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.45sWARNlocal_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 + 3.45sWARNlocal_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 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788543239.06243968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.837ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2).[0m ×2 + 5.13sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.16sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.15sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.15sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.15sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522462 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522462 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925433 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925433 ms (missed cycles : 3).[0m ×2 + 8.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.193ms + 9.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.601ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845993 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845993 ms (missed cycles : 2).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.512ms + 10.22sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 10.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.375ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347961 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347961 ms (missed cycles : 2).[0m ×2 + 10.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.973ms + 11.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.473ms + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743098 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743098 ms (missed cycles : 2).[0m ×2 + 12.06sINFOamclParticle filter update iteration stats: 2502 particles 723 points - 7.406ms + 12.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.234ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724342 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724342 ms (missed cycles : 2).[0m ×2 + 13.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 13.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771321 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771321 ms (missed cycles : 3).[0m ×2 + 14.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.185ms + 15.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801720 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801720 ms (missed cycles : 3).[0m ×2 + 15.57sWARNros2_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 + 15.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.946ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813615 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813615 ms (missed cycles : 2).[0m ×2 + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889342 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889342 ms (missed cycles : 2).[0m ×2 + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617575 ms (missed cycles : 3). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617575 ms (missed cycles : 3).[0m ×2 + 18.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566923 ms (missed cycles : 3). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566923 ms (missed cycles : 3).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957528 ms (missed cycles : 3). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957528 ms (missed cycles : 3).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 21.08sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 21.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881974 ms (missed cycles : 2). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881974 ms (missed cycles : 2).[0m ×2 + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177763 ms (missed cycles : 3). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177763 ms (missed cycles : 3).[0m ×2 + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200908 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200908 ms (missed cycles : 2).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866560 ms (missed cycles : 5). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866560 ms (missed cycles : 5).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202751 ms (missed cycles : 4). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202751 ms (missed cycles : 4).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 26.57sWARNros2_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 + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706957 ms (missed cycles : 4). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706957 ms (missed cycles : 4).[0m ×2 + 27.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms ×2 + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.781ms + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708974 ms (missed cycles : 2). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708974 ms (missed cycles : 2).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671786 ms (missed cycles : 2). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671786 ms (missed cycles : 2).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 30.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572946 ms (missed cycles : 4). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572946 ms (missed cycles : 4).[0m ×2 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.809ms + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595061 ms (missed cycles : 5). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595061 ms (missed cycles : 5).[0m ×2 + 32.05sWARNros2_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 + 32.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367481 ms (missed cycles : 2). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367481 ms (missed cycles : 2).[0m ×2 + 32.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016539 ms (missed cycles : 3). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016539 ms (missed cycles : 3).[0m ×2 + 33.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 33.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488147 ms (missed cycles : 5). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488147 ms (missed cycles : 5).[0m ×2 + 34.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 35.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047755 ms (missed cycles : 2). + 35.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047755 ms (missed cycles : 2).[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086732 ms (missed cycles : 2). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086732 ms (missed cycles : 2).[0m ×2 + 37.13sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 37.16sWARNros2_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 + 37.38sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692007 ms (missed cycles : 2). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692007 ms (missed cycles : 2).[0m ×2 + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254330 ms (missed cycles : 3). + 38.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254330 ms (missed cycles : 3).[0m ×2 + 38.99sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 39.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497511 ms (missed cycles : 3). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497511 ms (missed cycles : 3).[0m ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177012 ms (missed cycles : 3). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177012 ms (missed cycles : 3).[0m ×2 + 41.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.730ms + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784202 ms (missed cycles : 5). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784202 ms (missed cycles : 5).[0m ×2 + 42.24sWARNros2_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 + 42.26sWARNros2_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 + 42.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719320 ms (missed cycles : 4). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719320 ms (missed cycles : 4).[0m ×2 + 42.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.756ms + 43.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.062ms + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447522 ms (missed cycles : 4). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447522 ms (missed cycles : 4).[0m ×2 + 44.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299845 ms (missed cycles : 3). + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299845 ms (missed cycles : 3).[0m ×2 + 45.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000806 ms (missed cycles : 3). + 45.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000806 ms (missed cycles : 3).[0m ×2 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.838397 ms (missed cycles : 5). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.838397 ms (missed cycles : 5).[0m ×2 + 47.29sWARNros2_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 + 47.31sWARNros2_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 + 47.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 48.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338963 ms (missed cycles : 4). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338963 ms (missed cycles : 4).[0m ×2 + 48.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 49.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 49.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140002 ms (missed cycles : 4). + 49.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140002 ms (missed cycles : 4).[0m ×2 + 49.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 50.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907414 ms (missed cycles : 3). + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907414 ms (missed cycles : 3).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340456 ms (missed cycles : 3). + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340456 ms (missed cycles : 3).[0m ×2 + 51.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 52.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845038 ms (missed cycles : 4). + 52.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845038 ms (missed cycles : 4).[0m ×2 + 53.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115267 ms (missed cycles : 4). + 53.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115267 ms (missed cycles : 4).[0m ×2 + 54.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290094 ms (missed cycles : 3). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290094 ms (missed cycles : 3).[0m ×2 + 54.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 55.58sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788543291.17258716 seconds ×3 + 55.65sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.65sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964904 ms (missed cycles : 3). + 55.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964904 ms (missed cycles : 3).[0m ×2 + 56.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 56.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.15sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.15sWARNlocal_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 + 56.15sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788543291.75038433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.57sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 56.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.384ms + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261594 ms (missed cycles : 2). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261594 ms (missed cycles : 2).[0m ×2 + 57.91sWARNros2_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 + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894807 ms (missed cycles : 3). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894807 ms (missed cycles : 3).[0m ×2 + 59.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385973 ms (missed cycles : 3). + 59.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385973 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 184 warnings · 380 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.81sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.81sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.81sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.81sINFOobjective_server_nodecaller: ×12 + 0.81sINFOobjective_server_nodetype: 0 ×12 + 0.81sINFOobjective_server_nodename: "" ×12 + 0.81sINFOobjective_server_nodeinstance_id: "" ×12 + 0.81sINFOobjective_server_node ×12 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.85sINFOmove_groupClearing octomap...[0m ×2 + 0.85sINFOmove_groupOctomap cleared.[0m ×2 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 1.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×8 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618635 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618635 ms (missed cycles : 3).[0m ×2 + 7.08sWARNros2_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 ×6 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796988 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796988 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338264 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338264 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287975 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287975 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259538 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259538 ms (missed cycles : 3).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728679 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728679 ms (missed cycles : 3).[0m ×2 + 12.64sWARNros2_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 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560449 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560449 ms (missed cycles : 3).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734568 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734568 ms (missed cycles : 3).[0m ×2 + 14.35sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.934ms + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256360 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256360 ms (missed cycles : 2).[0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235690 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235690 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138339 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138339 ms (missed cycles : 2).[0m ×2 + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846063 ms (missed cycles : 4). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846063 ms (missed cycles : 4).[0m ×2 + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868916 ms (missed cycles : 2). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868916 ms (missed cycles : 2).[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.075342 ms (missed cycles : 5). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.075342 ms (missed cycles : 5).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238023 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238023 ms (missed cycles : 2).[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716639 ms (missed cycles : 3). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716639 ms (missed cycles : 3).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322519 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322519 ms (missed cycles : 2).[0m ×2 + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844757 ms (missed cycles : 3). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844757 ms (missed cycles : 3).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714889 ms (missed cycles : 3). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714889 ms (missed cycles : 3).[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787065 ms (missed cycles : 2). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787065 ms (missed cycles : 2).[0m ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932809 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932809 ms (missed cycles : 2).[0m ×2 + 27.68sWARNros2_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 ×8 + 27.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×8 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957297 ms (missed cycles : 2). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957297 ms (missed cycles : 2).[0m ×2 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636533 ms (missed cycles : 3). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636533 ms (missed cycles : 3).[0m ×2 + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277800 ms (missed cycles : 4). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277800 ms (missed cycles : 4).[0m ×2 + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818570 ms (missed cycles : 3). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818570 ms (missed cycles : 3).[0m ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032921 ms (missed cycles : 2). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032921 ms (missed cycles : 2).[0m ×2 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344182 ms (missed cycles : 3). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344182 ms (missed cycles : 3).[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616476 ms (missed cycles : 3). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616476 ms (missed cycles : 3).[0m ×2 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652427 ms (missed cycles : 3). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652427 ms (missed cycles : 3).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982252 ms (missed cycles : 3). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982252 ms (missed cycles : 3).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752200 ms (missed cycles : 4). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752200 ms (missed cycles : 4).[0m ×2 + 39.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881536 ms (missed cycles : 2). + 39.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881536 ms (missed cycles : 2).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623029 ms (missed cycles : 2). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623029 ms (missed cycles : 2).[0m ×2 + 41.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787651 ms (missed cycles : 2). + 41.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787651 ms (missed cycles : 2).[0m ×2 + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670385 ms (missed cycles : 3). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670385 ms (missed cycles : 3).[0m ×2 + 42.73sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 2.039ms + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171303 ms (missed cycles : 2). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171303 ms (missed cycles : 2).[0m ×2 + 44.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847549 ms (missed cycles : 2). + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847549 ms (missed cycles : 2).[0m ×2 + 45.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041677 ms (missed cycles : 2). + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041677 ms (missed cycles : 2).[0m ×2 + 46.29sINFOjoint_trajectory_controllerGoal reached, success! + 46.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788543136.00521255 seconds ×3 + 46.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706128 ms (missed cycles : 2). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706128 ms (missed cycles : 2).[0m ×2 + 46.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.89sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788543136.59243512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469564 ms (missed cycles : 3). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469564 ms (missed cycles : 3).[0m ×2 + 47.99sINFOobjective_server_nodeFound path in 0 iterations (2.4965e-05 s). ×2 + 48.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446093 ms (missed cycles : 3). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446093 ms (missed cycles : 3).[0m ×2 + 49.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 50.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3). + 50.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 158 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711254 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711254 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822224 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822224 ms (missed cycles : 2).[0m ×2 + 1.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.75sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788543205.78092146 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214277 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214277 ms (missed cycles : 3).[0m ×2 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130553 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130553 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.30sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.30sINFOobjective_server_nodecaller: ×4 + 3.30sINFOobjective_server_nodetype: 0 ×4 + 3.30sINFOobjective_server_nodename: "" ×4 + 3.30sINFOobjective_server_nodeinstance_id: "" ×4 + 3.30sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788543207.35661864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779264 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779264 ms (missed cycles : 2).[0m ×2 + 4.28sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 5.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731053 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731053 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811117 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811117 ms (missed cycles : 2).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097290 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097290 ms (missed cycles : 3).[0m ×2 + 8.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.473ms + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934010 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934010 ms (missed cycles : 2).[0m ×2 + 9.41sWARNros2_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 + 9.44sWARNros2_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 + 9.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.273ms + 10.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.545ms + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812084 ms (missed cycles : 4). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812084 ms (missed cycles : 4).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.976ms + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083702 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083702 ms (missed cycles : 3).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.426ms + 11.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.314ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931887 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931887 ms (missed cycles : 2).[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.241ms + 12.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.416ms + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656734 ms (missed cycles : 4). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656734 ms (missed cycles : 4).[0m ×2 + 13.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.475ms + 14.19sINFOamclParticle filter update iteration stats: 4518 particles 723 points - 7.414ms + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862832 ms (missed cycles : 2). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862832 ms (missed cycles : 2).[0m ×2 + 14.78sWARNros2_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 + 14.80sWARNros2_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 + 14.82sINFOamclParticle filter update iteration stats: 3107 particles 723 points - 6.037ms + 15.41sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 4.927ms + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107291 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107291 ms (missed cycles : 2).[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 2.406ms + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504208 ms (missed cycles : 3). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504208 ms (missed cycles : 3).[0m ×2 + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.977ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894916 ms (missed cycles : 3). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894916 ms (missed cycles : 3).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212595 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212595 ms (missed cycles : 2).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233758 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233758 ms (missed cycles : 2).[0m ×2 + 20.29sWARNros2_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 + 20.31sWARNros2_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 + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695862 ms (missed cycles : 3). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695862 ms (missed cycles : 3).[0m ×2 + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657636 ms (missed cycles : 3). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657636 ms (missed cycles : 3).[0m ×2 + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792910 ms (missed cycles : 3). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792910 ms (missed cycles : 3).[0m ×2 + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066582 ms (missed cycles : 3). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066582 ms (missed cycles : 3).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944857 ms (missed cycles : 4). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944857 ms (missed cycles : 4).[0m ×2 + 25.77sWARNros2_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 + 25.79sWARNros2_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 + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986922 ms (missed cycles : 3). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986922 ms (missed cycles : 3).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.186ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373327 ms (missed cycles : 5). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373327 ms (missed cycles : 5).[0m ×2 + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 28.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580791 ms (missed cycles : 2). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580791 ms (missed cycles : 2).[0m ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 29.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078028 ms (missed cycles : 2). + 29.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078028 ms (missed cycles : 2).[0m ×2 + 30.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067869 ms (missed cycles : 3). + 30.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067869 ms (missed cycles : 3).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.656ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5).[0m ×2 + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 32.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3).[0m ×2 + 33.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2).[0m ×2 + 34.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 34.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788543238.48676491 seconds ×3 + 34.52sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.52sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3). + 34.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3).[0m ×2 + 35.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.00sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.02sWARNlocal_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 + 35.02sWARNlocal_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 + 35.03sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788543239.06243968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.43sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 35.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.837ms + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2).[0m ×2 + 36.70sWARNros2_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 + 36.72sWARNros2_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 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2).[0m ×2 + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.3s | 102 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463602 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463602 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414039 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414039 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161338 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161338 ms (missed cycles : 3).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 2.67sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.67sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788543430.44769335 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175252 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175252 ms (missed cycles : 2).[0m ×2 + 3.20sWARNlocal_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 + 3.20sWARNlocal_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 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.24sINFOobjective_server_nodecaller: ×6 + 3.24sINFOobjective_server_nodetype: 0 ×6 + 3.24sINFOobjective_server_nodename: "" ×6 + 3.24sINFOobjective_server_nodeinstance_id: "" ×6 + 3.24sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788543431.03606844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.952ms + 4.01sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982763 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982763 ms (missed cycles : 3).[0m ×2 + 4.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 4.27sWARNros2_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 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926763 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926763 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871889 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871889 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343174 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343174 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551193 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551193 ms (missed cycles : 3).[0m ×2 + 9.38sWARNros2_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 + 9.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924251 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924251 ms (missed cycles : 3).[0m ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 9.77sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.91sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 10.06sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.11sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 10.44sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.49sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277328 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277328 ms (missed cycles : 2).[0m ×2 + 10.84sINFOobjective_server_nodeFound path in 33 iterations (0.0338693 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281149 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281149 ms (missed cycles : 2).[0m ×2 + 12.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.16sINFOobjective_server_nodeFound path in 0 iterations (6.84e-07 s). ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886149 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886149 ms (missed cycles : 3).[0m ×2 + 12.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226182 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226182 ms (missed cycles : 2).[0m ×2 + 14.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815458 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815458 ms (missed cycles : 2).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.124ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734403 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734403 ms (missed cycles : 3).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.864ms + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489408 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489408 ms (missed cycles : 2).[0m ×2 + 16.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.137ms + 17.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.467ms + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294081 ms (missed cycles : 4). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294081 ms (missed cycles : 4).[0m ×2 + 18.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119503 ms (missed cycles : 2). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119503 ms (missed cycles : 2).[0m ×2 + 19.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788543446.75718331 seconds ×3 + 19.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788543447.36800146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.62sINFOmove_groupClearing octomap...[0m ×2 + 19.62sINFOmove_groupOctomap cleared.[0m ×2 + 19.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.512ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626473 ms (missed cycles : 3). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626473 ms (missed cycles : 3).[0m ×2 + 20.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788543448.30820537 seconds ×3 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906779 ms (missed cycles : 2). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906779 ms (missed cycles : 2).[0m ×2 + 21.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.10sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788543448.89183712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788543449.51197433 seconds ×3 + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134436 ms (missed cycles : 3). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134436 ms (missed cycles : 3).[0m ×2 + 22.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 102 errors · 38 warnings · 515 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294081 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294081 ms (missed cycles : 4).[0m ×2 + 0.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119503 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119503 ms (missed cycles : 2).[0m ×2 + 1.22sINFOjoint_trajectory_controllerGoal reached, success! + 1.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788543446.75718331 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.78sINFOobjective_server_nodecaller: ×4 + 1.78sINFOobjective_server_nodetype: 0 ×4 + 1.78sINFOobjective_server_nodename: "" ×4 + 1.78sINFOobjective_server_nodeinstance_id: "" ×4 + 1.78sINFOobjective_server_node ×4 + 1.84sWARNros2_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 + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788543447.36800146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.86sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sWARNros2_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 + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.512ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626473 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626473 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788543448.30820537 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906779 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906779 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788543448.89183712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788543449.51197433 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134436 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134436 ms (missed cycles : 3).[0m ×2 + 4.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111975 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111975 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535865 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535865 ms (missed cycles : 3).[0m ×2 + 7.34sWARNros2_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 + 7.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961738 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961738 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180723 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180723 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722592 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722592 ms (missed cycles : 2).[0m ×2 + 10.44sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.46sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORweb_video_auth_proxy-38process has died [pid 8990, 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 + 10.46sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.47sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORweb_bridge_auth_proxy-37process has died [pid 8989, 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 + 10.48sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.50sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.51sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.52sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.53sINFOvideo_server-36process has finished cleanly [pid 8984] ×2 + 10.53sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.54sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.55sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.56sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.57sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.59sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.60sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.61sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.62sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.63sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.64sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.64sINFOcontroller_managerShutdown request received.... + 10.64sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.64sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.64sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.64sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.64sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.64sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.64sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.64sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.64sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.64sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.64sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.64sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.64sINFOcontroller_managerShutting down the controller manager. + 10.65sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.66sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.67sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.68sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.68sERRORmove_group-24process has died [pid 8927, 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_u3708lge --params-file /tmp/launch_params_rz34mq7j --params-file /tmp/launch_params_r2jepain --params-file /tmp/launch_params_7bwf9d25 --params-file /tmp/launch_params_0cjz3sz9 --params-file /tmp/launch_params_cihei7k_']. ×2 + 10.69sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.70sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.71sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.72sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.73sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.73sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.73sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.73sINFOmap_serverDeactivating + 10.73sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.74sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.74sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.74sINFOcontroller_serverDeactivating + 10.74sINFOlocal_costmap.local_costmapDeactivating + 10.74sINFOvideo_server2026/09/04 17:37:36 INF shutting down gracefully ×2 + 10.74sINFOvideo_server2026/09/04 17:37:36 INF [WebRTC] closing ×2 + 10.74sINFOvideo_server2026/09/04 17:37:36 INF [RTSP] closing ×2 + 10.74sINFOvideo_server2026/09/04 17:37:36 INF waiting for running hooks ×2 + 10.74sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.74sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmap_serverCleaning up + 10.74sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.74sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.74sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.75sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.75sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.75sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.75sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.75sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.75sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.75sERRORmove_groupStack trace (most recent call last) in thread 9605: ×2 + 10.75sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.75sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.75sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0349d49a63, in __clone ×2 + 10.75sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0349cbcaa3, in ×2 + 10.75sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0349f4edb3, in ×2 + 10.75sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f034a6b3a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.75sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f034a2e0620, in rclcpp::Rate::sleep() ×2 + 10.75sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f034a222d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.75sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f034a1e4087, in ×2 + 10.75sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0349f1d390, in __cxa_throw ×2 + 10.75sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0349f07a54, in std::terminate() ×2 + 10.75sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0349f1d0d9, in ×2 + 10.75sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0349f07ff4, in ×2 + 10.75sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0349c488fe, in abort ×2 + 10.75sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0349c6527d, in raise ×2 + 10.75sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0349cbeb2c, in pthread_kill ×2 + 10.75sERRORmove_groupAborted (Signal sent by tkill() 8927 0) ×2 + 10.75sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.75sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.75sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.75sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.75sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.75sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.75sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.75sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.75sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.75sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.75sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.75sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.75sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.75sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.75sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.75sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.75sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.75sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.75sINFOodom_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 + 10.75sINFOodom_qos_relay.pymain() ×2 + 10.75sINFOodom_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 + 10.75sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.75sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.75sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.75sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.76sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.76sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.76sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.76sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.76sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.76sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.76sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.76sERRORamclThe bond connection to the lifecycle manager has been broken + 10.83sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.84sINFOcontroller_serverCleaning up + 10.84sINFOlocal_costmap.local_costmapCleaning up + 10.85sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.85sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.86sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.89sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.89sINFOsmoother_serverDeactivating + 10.89sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.90sINFOsmoother_serverCleaning up + 10.91sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.91sINFOplanner_serverDeactivating + 10.91sINFOglobal_costmap.global_costmapDeactivating + 10.99sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.99sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.99sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.99sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.99sINFOvelocity_smootherDeactivating + 10.99sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.10sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.10sINFOwaypoint_followerDeactivating + 11.10sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.21sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.21sINFObt_navigatorDeactivating + 11.21sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.33sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.33sINFObehavior_serverDeactivating + 11.33sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.44sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.44sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.45sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.45sINFOvelocity_smootherCleaning up + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.45sINFOwaypoint_followerCleaning up + 11.48sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.48sINFObt_navigatorCleaning up + 11.57sINFOtf2_web_republisher_node-35process has finished cleanly [pid 8981] ×2 + 11.57sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.64sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 8968] ×2 + 11.66sINFObt_navigatorCompleted Cleaning up + 11.66sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.66sINFObehavior_serverCleaning up + 11.66sINFOui_teleop_bridge-33process has finished cleanly [pid 8975] ×2 + 11.66sINFOmove_joint_resampler_node-27process has finished cleanly [pid 8967] ×2 + 11.66sINFOexecute_objective_bridge-32process has finished cleanly [pid 8972] ×2 + 11.67sINFOcomponent_container_mt-31process has finished cleanly [pid 8971] ×2 + 11.68sINFOparameter_manager_node-25process has finished cleanly [pid 8959] ×2 + 11.70sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 8901] ×2 + 11.70sINFOwaypoint_manager_node-26process has finished cleanly [pid 8966] ×2 + 11.71sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8900] ×2 + 11.72sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.72sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.72sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.72sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.72sINFOstatic_transform_publisher-9process has finished cleanly [pid 8818] ×2 + 11.73sINFOstatic_transform_publisher-8process has finished cleanly [pid 8817] ×2 + 11.73sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.73sINFOlidar_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 + 11.74sINFOlidar_flattener.pymain() ×2 + 11.74sINFOlidar_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 + 11.74sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.74sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.74sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.74sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.74sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.74sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.74sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.74sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.74sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.75sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.75sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.76sINFOplanner_serverCleaning up + 11.76sINFOstatic_transform_publisher-4process has finished cleanly [pid 8813] ×2 + 11.77sINFOstatic_transform_publisher-3process has finished cleanly [pid 8812] ×2 + 11.78sINFOglobal_costmap.global_costmapCleaning up + 11.78sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.78sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.79sERRORlidar_flattener.py-7process has died [pid 8816, 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_569g66p2']. ×2 + 11.79sINFOcomponent_container_mt-30process has finished cleanly [pid 8970] ×2 + 11.80sINFOobjective_server_node[2026-09-04 17:37:37.316] [moveit_pro_license] [info] ×2 + 11.80sINFOobjective_server_node************************************************* ×4 + 11.80sINFOobjective_server_node* MoveIt Pro License ×2 + 11.80sINFOobjective_server_node* Application has successfully terminated ×2 + 11.81sERRORodom_qos_relay.py-5process has died [pid 8814, 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 + 11.81sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 8815] ×2 + 11.82sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.82sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.82sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.82sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.82sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.87sINFOobjective_server_node_main-29process has finished cleanly [pid 8969] ×2 + 11.87sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.15sERRORcomponent_container_isolated-1process has died [pid 8810, 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_9hqaveug --params-file /tmp/launch_params_rcu1r_00 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.07sERRORcomponent_container_isolated-2process has died [pid 8811, 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_9hqaveug --params-file /tmp/launch_params_cry9itvq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.37sINFOros2_control_node-12process has finished cleanly [pid 8902] ×2 + 13.49sINFOweb_bridge-34process has finished cleanly [pid 8976] ×2 + 13.49sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 103 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845038 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845038 ms (missed cycles : 4).[0m ×2 + 0.25sWARNros2_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 + 0.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115267 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115267 ms (missed cycles : 4).[0m ×2 + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290094 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290094 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788543291.17258716 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964904 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964904 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.58sWARNlocal_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 + 3.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788543291.75038433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.384ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261594 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261594 ms (missed cycles : 2).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894807 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894807 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385973 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385973 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957131 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957131 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.548416 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.548416 ms (missed cycles : 4).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.212ms + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.825ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455480 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455480 ms (missed cycles : 2).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.107ms + 10.47sWARNros2_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 + 10.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 10.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.854ms + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910716 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910716 ms (missed cycles : 3).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.884ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833458 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833458 ms (missed cycles : 3).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.943ms + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.610ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859653 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859653 ms (missed cycles : 2).[0m ×2 + 12.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 13.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.852ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431323 ms (missed cycles : 3). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431323 ms (missed cycles : 3).[0m ×2 + 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. + 13.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.93sERRORobjective_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: 1788543302.09263945 seconds ×3 + 13.98sWARNlocal_costmap.local_costmapSensor origin at (-0.46, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.98sWARNlocal_costmap.local_costmapSensor origin at (-1.36, 2.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.396ms + 14.08sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.08sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788543302.67141914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.349ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479285 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479285 ms (missed cycles : 3).[0m ×2 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 15.80sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899034 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899034 ms (missed cycles : 3).[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407022 ms (missed cycles : 4). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407022 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 73 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788543199.39889979 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sWARNlocal_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. ×5 + 2.69sWARNlocal_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. ×5 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788543199.98077321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.158ms + 3.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 6.51sWARNros2_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 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711254 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711254 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822224 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822224 ms (missed cycles : 2).[0m ×2 + 9.03sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788543205.78092146 seconds ×3 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214277 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214277 ms (missed cycles : 3).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130553 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130553 ms (missed cycles : 3).[0m ×2 + 10.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.57sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788543207.35661864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.03sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779264 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779264 ms (missed cycles : 2).[0m ×2 + 11.58sWARNros2_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 + 12.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731053 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731053 ms (missed cycles : 2).[0m ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 54 warnings · 138 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381325 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381325 ms (missed cycles : 3).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601311 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601311 ms (missed cycles : 3).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 2.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.37sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788543366.80158019 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186191 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186191 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788543367.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.395ms + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807832 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807832 ms (missed cycles : 3).[0m ×2 + 4.08sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196570 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196570 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3).[0m ×2 + 8.81sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788543373.24321723 seconds ×3 + 9.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.36sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788543373.82746029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3).[0m ×2 + 9.79sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2).[0m ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 48 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171303 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171303 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847549 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847549 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041677 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041677 ms (missed cycles : 2).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.92sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788543136.00521255 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706128 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706128 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788543136.59243512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469564 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469564 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (2.4965e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.71sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.71sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.45sWARNros2_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 + 5.47sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446093 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446093 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3).[0m ×2 + 7.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566526 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566526 ms (missed cycles : 2).[0m ×2 + 7.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 8.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671777 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671777 ms (missed cycles : 2).[0m ×2 + 9.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788543142.10255289 seconds ×3 + 9.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 9.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.61sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788543142.67876339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448032 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448032 ms (missed cycles : 3).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 2491 particles 723 points - 2.881ms + 10.05sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 10.51sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.53sWARNros2_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 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764513 ms (missed cycles : 4). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764513 ms (missed cycles : 4).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781972 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781972 ms (missed cycles : 2).[0m ×2 + 12.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 28 warnings · 119 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.864ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489408 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489408 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.137ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.467ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294081 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294081 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119503 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119503 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788543446.75718331 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.31sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788543447.36800146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.512ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626473 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626473 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788543448.30820537 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906779 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906779 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788543448.89183712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788543449.51197433 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134436 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134436 ms (missed cycles : 3).[0m ×2 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111975 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111975 ms (missed cycles : 4).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535865 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535865 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 51 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788543199.39889979 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_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. ×5 + 2.69sWARNlocal_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. ×5 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788543199.98077321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.158ms + 3.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.51sWARNros2_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 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.81sINFOobjective_server_nodecaller: ×10 + 0.81sINFOobjective_server_nodetype: 0 ×10 + 0.81sINFOobjective_server_nodename: "" ×10 + 0.81sINFOobjective_server_nodeinstance_id: "" ×10 + 0.81sINFOobjective_server_node ×10 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.85sINFOmove_groupClearing octomap...[0m ×2 + 0.85sINFOmove_groupOctomap cleared.[0m ×2 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 1.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal + 4.78sINFOjoint_trajectory_controllerAccepted new action goal + 4.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618635 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618635 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 29 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171303 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171303 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847549 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847549 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041677 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041677 ms (missed cycles : 2).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788543136.00521255 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706128 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706128 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788543136.59243512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469564 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469564 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (2.4965e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOjoint_trajectory_controllerReceived new action goal + 4.71sINFOjoint_trajectory_controllerAccepted new action goal + 4.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNros2_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 + 5.47sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446093 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446093 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 29 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171303 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171303 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847549 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847549 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041677 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041677 ms (missed cycles : 2).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788543136.00521255 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706128 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706128 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788543136.59243512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469564 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469564 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (2.4965e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOjoint_trajectory_controllerReceived new action goal + 4.71sINFOjoint_trajectory_controllerAccepted new action goal + 4.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNros2_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 + 5.47sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446093 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446093 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 4.22sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 22 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880385 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566526 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566526 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671777 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671777 ms (missed cycles : 2).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788543142.10255289 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788543142.67876339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448032 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448032 ms (missed cycles : 3).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 2491 particles 723 points - 2.881ms + 3.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 3.91sWARNros2_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 + 3.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764513 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764513 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781972 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781972 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 51 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788543199.39889979 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_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. ×5 + 2.69sWARNlocal_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. ×5 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788543199.98077321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.158ms + 3.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.51sWARNros2_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 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 51 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788543199.39889979 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_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. ×5 + 2.69sWARNlocal_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. ×5 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788543199.98077321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.158ms + 3.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.51sWARNros2_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 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 51 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788543199.39889979 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_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. ×5 + 2.69sWARNlocal_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. ×5 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788543199.98077321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.158ms + 3.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.51sWARNros2_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 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 51 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360510 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860426 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151744 ms (missed cycles : 2).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788543199.39889979 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_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. ×5 + 2.69sWARNlocal_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. ×5 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122121 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sWARNlocal_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 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788543199.98077321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.158ms + 3.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947899 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182848 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318505 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.51sWARNros2_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 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 47 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2).[0m ×2 + 2.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788543238.48676491 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.45sWARNlocal_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 + 3.45sWARNlocal_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 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788543239.06243968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.837ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2).[0m ×2 + 5.13sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.16sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 47 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2).[0m ×2 + 2.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788543238.48676491 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.45sWARNlocal_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 + 3.45sWARNlocal_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 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788543239.06243968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.837ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2).[0m ×2 + 5.13sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.16sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 47 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675289 ms (missed cycles : 5).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361930 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814445 ms (missed cycles : 2).[0m ×2 + 2.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788543238.48676491 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929842 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.45sWARNlocal_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 + 3.45sWARNlocal_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 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788543239.06243968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.837ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196680 ms (missed cycles : 2).[0m ×2 + 5.13sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.16sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617591 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772200 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 4.22sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − 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 4.629599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788543373.24321723 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.04sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788543373.82746029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 4.22sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − 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 4.629599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788543373.24321723 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.04sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788543373.82746029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 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 4.629599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788543373.24321723 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.04sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788543373.82746029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 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 4.629599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788543373.24321723 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.04sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788543373.82746029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 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 4.629599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788543373.24321723 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.04sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788543373.82746029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 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 4.629599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788543373.24321723 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.04sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788543373.82746029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 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 4.629599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629599 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846542 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897824 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788543373.24321723 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.04sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788543373.82746029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047840 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025303 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948077 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176184 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 22 warnings · 119 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.864ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489408 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489408 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.137ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.467ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294081 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294081 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119503 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119503 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788543446.75718331 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.31sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788543447.36800146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.512ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626473 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626473 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788543448.30820537 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906779 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906779 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788543448.89183712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788543449.51197433 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134436 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134436 ms (missed cycles : 3).[0m ×2 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 1.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.85sINFOobjective_server_nodecaller: ×10 + 1.85sINFOobjective_server_nodetype: 0 ×10 + 1.85sINFOobjective_server_nodename: "" ×10 + 1.85sINFOobjective_server_nodeinstance_id: "" ×10 + 1.85sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.89sINFOmove_groupClearing octomap...[0m ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.64sWARNros2_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 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 3.20sWARNros2_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 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 5.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 28 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 4.22sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 4.22sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 25 warnings · 300 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 4.22sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 4.22sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 4.22sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063136 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 4.22sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423785 ms (missed cycles : 3).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 1.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.85sINFOobjective_server_nodecaller: ×10 + 1.85sINFOobjective_server_nodetype: 0 ×10 + 1.85sINFOobjective_server_nodename: "" ×10 + 1.85sINFOobjective_server_nodeinstance_id: "" ×10 + 1.85sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.89sINFOmove_groupClearing octomap...[0m ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.64sWARNros2_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 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 3.20sWARNros2_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 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 5.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618635 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618635 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045135 ms (missed cycles : 3).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788543090.50925875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788543090.51950574 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730722 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788543091.10038805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788543091.11052012 seconds ×3 + 2.06sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788543091.68580055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772960 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788543091.83635426 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788543092.44186115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788543092.49205780 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749057 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788543093.06081080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256638 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535006 ms (missed cycles : 4).[0m ×2 | ||||